Do delay bin to km conversion in JSON

config/radar4.yml

@@ -15,8 +15,8 @@ process:
   ambiguity:
     delayMin: -10
     delayMax: 300
-    dopplerMin: -300
-    dopplerMax: 300
+    dopplerMin: -250
+    dopplerMax: 250
   clutter:
     delayMin: -10
     delayMax: 300

src/blah2.cpp

@@ -206,6 +206,7 @@ int main(int argc, char **argv)
           // output map data
           map->set_metrics();
           mapJson = map->to_json();
+          mapJson = map->delay_bin_to_km(mapJson, fs);
           if (saveMap)
           {
             map->save(mapJson, saveMapPath);

src/data/Map.cpp

@@ -121,7 +121,7 @@ std::string Map<T>::to_json()
   rapidjson::Value arrayDelay(rapidjson::kArrayType);
   for (int i = 0; i < delay.size(); i++)
   {
-    arrayDelay.PushBack(delay_km[i], allocator);
+    arrayDelay.PushBack(delay[i], allocator);
   }
 
   // store Doppler array
@@ -141,7 +141,6 @@ std::string Map<T>::to_json()
   document.AddMember("maxPower", maxPower, allocator);
   document.AddMember("delay", arrayDelay, allocator);
   document.AddMember("doppler", arrayDoppler, allocator);
-  document.AddMember("timestamp", timestamp, allocator);
   document.AddMember(rapidjson::Value("data", document.GetAllocator()).Move(), array, document.GetAllocator());
 
   rapidjson::StringBuffer strbuf;
@@ -152,6 +151,28 @@ std::string Map<T>::to_json()
   return strbuf.GetString();
 }
 
+template <class T>
+std::string Map<T>::delay_bin_to_km(std::string json, uint32_t fs)
+{
+  rapidjson::Document document;
+  document.SetObject();
+  rapidjson::Document::AllocatorType &allocator = document.GetAllocator();
+  document.Parse(json.c_str());
+
+  document["delay"].Clear();
+  for (int i = 0; i < delay.size(); i++)
+  {
+    document["delay"].PushBack(1.0*delay[i]*(299792458/(double)fs)/1000, allocator);
+  }
+
+  rapidjson::StringBuffer strbuf;
+  rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
+  writer.SetMaxDecimalPlaces(2);
+  document.Accept(writer);
+
+  return strbuf.GetString();
+}
+
 template <class T>
 void Map<T>::set_metrics()
 {

src/data/Map.h

@@ -33,9 +33,6 @@ public:
   /// @brief Delay units of map data (bins).
   std::deque<int> delay;
 
-  /// @brief Delay units of map data (km).
-  std::deque<double> delay_km;
-
   /// @brief Doppler units of map data (Hz).
   std::deque<double> doppler;
 
@@ -97,6 +94,12 @@ public:
   /// @return JSON string.
   std::string to_json();
 
+  /// @brief Update JSON to convert delay bins to km.
+  /// @param json Input JSON string with delay field.
+  /// @param fs Sampling frequency (Hz).
+  /// @return JSON string.
+  std::string delay_bin_to_km(std::string json, uint32_t fs);
+
   /// @brief Append the map to a save file.
   /// @param json JSON string of map and metadata.
   /// @param path Path of file to save.

src/process/ambiguity/Ambiguity.cpp

@@ -79,7 +79,6 @@ Ambiguity::Ambiguity(int32_t _delayMin, int32_t _delayMax, int32_t _dopplerMin,
   for (int i = 0; i < nDelayBins; i++)
   {
     map->delay.push_back(delay[i]);
-    map->delay_km.push_back(((double)delay[i] * (299792458/(double)fs)) / 1000);
   }
   for (int i = 0; i < nDopplerBins; i++)
   {