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Add enable flag for clutter, detection and tracker

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30hours 2024-06-14 06:55:54 +00:00
parent b48179d957
commit 4ea9c33419
6 changed files with 57 additions and 17 deletions
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3
config/config-hackrf.yml
View file

@ -25,9 +25,11 @@ process:
dopplerMin: -200
dopplerMax: 200
clutter:
enable: true
delayMin: -10
delayMax: 400
detection:
enable: true
pfa: 0.00001
nGuard: 2
nTrain: 6
@ -35,6 +37,7 @@ process:
minDoppler: 15
nCentroid: 6
tracker:
enable: true
initiate:
M: 3
N: 5

3
config/config-kraken.yml
View file

@ -25,9 +25,11 @@ process:
dopplerMin: -200
dopplerMax: 200
clutter:
enable: true
delayMin: -10
delayMax: 400
detection:
enable: true
pfa: 0.00001
nGuard: 2
nTrain: 6
@ -35,6 +37,7 @@ process:
minDoppler: 15
nCentroid: 6
tracker:
enable: true
initiate:
M: 3
N: 5

3
config/config-usrp.yml
View file

@ -23,9 +23,11 @@ process:
dopplerMin: -200
dopplerMax: 200
clutter:
enable: true
delayMin: -10
delayMax: 400
detection:
enable: true
pfa: 0.00001
nGuard: 2
nTrain: 6
@ -33,6 +35,7 @@ process:
minDoppler: 15
nCentroid: 6
tracker:
enable: true
initiate:
M: 3
N: 5

3
config/config.yml
View file

@ -19,9 +19,11 @@ process:
dopplerMin: -200
dopplerMax: 200
clutter:
enable: true
delayMin: -10
delayMax: 400
detection:
enable: true
pfa: 0.00001
nGuard: 2
nTrain: 6
@ -29,6 +31,7 @@ process:
minDoppler: 15
nCentroid: 6
tracker:
enable: true
initiate:
M: 3
N: 5

3
config/radar4.yml
View file

@ -19,9 +19,11 @@ process:
dopplerMin: -200
dopplerMax: 200
clutter:
enable: true
delayMin: -10
delayMax: 400
detection:
enable: true
pfa: 0.00001
nGuard: 2
nTrain: 6
@ -29,6 +31,7 @@ process:
minDoppler: 15
nCentroid: 6
tracker:
enable: true
initiate:
M: 3
N: 5

59
src/blah2.cpp
View file

@ -184,6 +184,16 @@ int main(int argc, char **argv)
double spectrumBandwidth = 2000;
SpectrumAnalyser *spectrumAnalyser = new SpectrumAnalyser(nSamples, spectrumBandwidth);
// process options
bool isClutter, isDetection, isTracker;
tree["process"]["clutter"]["enable"] >> isClutter;
tree["process"]["detection"]["enable"] >> isDetection;
tree["process"]["tracker"]["enable"] >> isTracker;
if (!isDetection)
{
isTracker = false;
}
// setup output data
bool saveMap;
tree["save"]["map"] >> saveMap;
@ -237,11 +247,14 @@ int main(int argc, char **argv)
timing_helper(timing_name, timing_time, time, "spectrum");
// clutter filter
if (!filter->process(x, y))
if (isClutter)
{
continue;
if (!filter->process(x, y))
{
continue;
}
timing_helper(timing_name, timing_time, time, "clutter_filter");
}
timing_helper(timing_name, timing_time, time, "clutter_filter");
// ambiguity process
map = ambiguity->process(x, y);
@ -249,14 +262,20 @@ int main(int argc, char **argv)
timing_helper(timing_name, timing_time, time, "ambiguity_processing");
// detection process
detection1 = cfarDetector1D->process(map);
detection2 = centroid->process(detection1);
detection = interpolate->process(detection2, map);
timing_helper(timing_name, timing_time, time, "detector");
if (isDetection)
{
detection1 = cfarDetector1D->process(map);
detection2 = centroid->process(detection1);
detection = interpolate->process(detection2, map);
timing_helper(timing_name, timing_time, time, "detector");
}
// tracker process
track = tracker->process(detection, time[0]/1000);
timing_helper(timing_name, timing_time, time, "tracker");
if (isTracker)
{
track = tracker->process(detection, time[0]/1000);
timing_helper(timing_name, timing_time, time, "tracker");
}
// output IqData meta data
jsonIqData = x->to_json(time[0]/1000);
@ -272,16 +291,22 @@ int main(int argc, char **argv)
socket_map.sendData(mapJson);
// output detection data
detectionJson = detection->to_json(time[0]/1000);
detectionJson = detection->delay_bin_to_km(detectionJson, fs);
socket_detection.sendData(detectionJson);
delete detection;
delete detection1;
delete detection2;
if (isDetection)
{
detectionJson = detection->to_json(time[0]/1000);
detectionJson = detection->delay_bin_to_km(detectionJson, fs);
socket_detection.sendData(detectionJson);
delete detection;
delete detection1;
delete detection2;
}
// output tracker data
jsonTracker = track->to_json(time[0]/1000);
socket_track.sendData(jsonTracker);
if (isTracker)
{
jsonTracker = track->to_json(time[0]/1000);
socket_track.sendData(jsonTracker);
}
// output radar data timer
timing_helper(timing_name, timing_time, time, "output_radar_data");