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CfarDetector1D is mostly working at /api/detection
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parent
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8 changed files with 91 additions and 46 deletions
1
.dockerignore
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.dockerignore
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@ -0,0 +1 @@
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save/
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@ -24,6 +24,8 @@ process:
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pfa: 0.000001
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pfa: 0.000001
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nGuard: 10
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nGuard: 10
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nTrain: 20
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nTrain: 20
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minDelay: 5
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minDoppler: 20
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network:
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network:
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ip: 0.0.0.0
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ip: 0.0.0.0
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@ -24,6 +24,8 @@ process:
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pfa: 0.000001
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pfa: 0.000001
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nGuard: 10
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nGuard: 10
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nTrain: 20
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nTrain: 20
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minDelay: 5
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minDoppler: 20
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network:
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network:
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ip: 0.0.0.0
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ip: 0.0.0.0
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@ -145,12 +145,14 @@ int main(int argc, char **argv)
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WienerHopf *filter = new WienerHopf(delayMinClutter, delayMaxClutter, nSamples);
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WienerHopf *filter = new WienerHopf(delayMinClutter, delayMaxClutter, nSamples);
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// setup process detection
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// setup process detection
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double pfa;
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double pfa, minDoppler;
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int8_t nGuard, nTrain;
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int8_t nGuard, nTrain, minDelay;
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tree["process"]["detection"]["pfa"] >> pfa;
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tree["process"]["detection"]["pfa"] >> pfa;
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tree["process"]["detection"]["nGuard"] >> nGuard;
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tree["process"]["detection"]["nGuard"] >> nGuard;
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tree["process"]["detection"]["nTrain"] >> nTrain;
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tree["process"]["detection"]["nTrain"] >> nTrain;
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CfarDetector1D *cfarDetector1D = new CfarDetector1D(pfa, nGuard, nTrain);
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tree["process"]["detection"]["minDelay"] >> minDelay;
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tree["process"]["detection"]["minDoppler"] >> minDoppler;
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CfarDetector1D *cfarDetector1D = new CfarDetector1D(pfa, nGuard, nTrain, minDelay, minDoppler);
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// setup output data
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// setup output data
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bool saveMap;
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bool saveMap;
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@ -217,7 +219,7 @@ int main(int argc, char **argv)
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timing_time.push_back(delta_t3);
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timing_time.push_back(delta_t3);
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// detection process
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// detection process
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// detection = cfarDetector1D->process(map);
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detection = cfarDetector1D->process(map);
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uint64_t t4 = current_time_us();
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uint64_t t4 = current_time_us();
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double delta_t4 = (double)(t4-t3) / 1000;
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double delta_t4 = (double)(t4-t3) / 1000;
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timing_name.push_back("detector");
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timing_name.push_back("detector");
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@ -238,13 +240,14 @@ int main(int argc, char **argv)
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}
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}
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// output detection data
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// output detection data
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// detectionJson = detection->to_json();
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detectionJson = detection->to_json();
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// for (int i = 0; i < (detectionJson.size() + MTU - 1) / MTU; i++)
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detectionJson = detection->delay_bin_to_km(detectionJson, fs);
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// {
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for (int i = 0; i < (detectionJson.size() + MTU - 1) / MTU; i++)
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// subdata = detectionJson.substr(i * MTU, MTU);
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{
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// socket_detection.write_some(asio::buffer(subdata, subdata.size()), err);
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subdata = detectionJson.substr(i * MTU, MTU);
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// }
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socket_detection.write_some(asio::buffer(subdata, subdata.size()), err);
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// delete detection;
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}
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delete detection;
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// output radar data timer
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// output radar data timer
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uint64_t t5 = current_time_us();
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uint64_t t5 = current_time_us();
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@ -64,6 +64,27 @@ std::string Detection::to_json()
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return strbuf.GetString();
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return strbuf.GetString();
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}
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}
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std::string Detection::delay_bin_to_km(std::string json, uint32_t fs)
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{
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rapidjson::Document document;
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document.SetObject();
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rapidjson::Document::AllocatorType &allocator = document.GetAllocator();
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document.Parse(json.c_str());
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document["delay"].Clear();
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for (int i = 0; i < delay.size(); i++)
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{
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document["delay"].PushBack(1.0*delay[i]*(299792458/(double)fs)/1000, allocator);
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}
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rapidjson::StringBuffer strbuf;
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rapidjson::Writer<rapidjson::StringBuffer> writer(strbuf);
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writer.SetMaxDecimalPlaces(2);
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document.Accept(writer);
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return strbuf.GetString();
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}
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bool Detection::save(std::string _json, std::string filename)
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bool Detection::save(std::string _json, std::string filename)
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{
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{
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using namespace rapidjson;
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using namespace rapidjson;
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@ -37,6 +37,12 @@ public:
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/// @return JSON string.
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/// @return JSON string.
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std::string to_json();
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std::string to_json();
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/// @brief Update JSON to convert delay bins to km.
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/// @param json Input JSON string with delay field.
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/// @param fs Sampling frequency (Hz).
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/// @return JSON string.
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std::string delay_bin_to_km(std::string json, uint32_t fs);
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/// @brief Append the detections to a save file.
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/// @brief Append the detections to a save file.
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/// @param json JSON string of detections and metadata.
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/// @param json JSON string of detections and metadata.
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/// @param path Path of file to save.
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/// @param path Path of file to save.
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@ -1,15 +1,18 @@
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#include "CfarDetector1D.h"
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#include "CfarDetector1D.h"
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#include "Map.h"
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#include <iostream>
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#include <iostream>
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#include <vector>
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#include <vector>
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#include <cmath>
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#include <cmath>
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// constructor
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// constructor
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CfarDetector1D::CfarDetector1D(double _pfa, int8_t _nGuard, int8_t _nTrain)
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CfarDetector1D::CfarDetector1D(double _pfa, int8_t _nGuard, int8_t _nTrain, int8_t _minDelay, double _minDoppler)
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{
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{
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// input
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// input
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pfa = _pfa;
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pfa = _pfa;
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nGuard = _nGuard;
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nGuard = _nGuard;
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nTrain = _nTrain;
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nTrain = _nTrain;
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minDelay = _minDelay;
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minDoppler = _minDoppler;
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}
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}
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CfarDetector1D::~CfarDetector1D()
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CfarDetector1D::~CfarDetector1D()
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@ -18,25 +21,11 @@ CfarDetector1D::~CfarDetector1D()
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Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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{
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{
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std::vector<std::vector<double>> dataSnr;
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int32_t nDelayBins = x->get_nCols();
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std::vector<std::vector<double>> dataSquare;
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int32_t nDopplerBins = x->get_nRows();
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// compute square of Map
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std::vector<std::complex<double>> mapRow;
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for (int i = 0; i < x->data.size(); i++)
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std::vector<double> mapRowSquare, mapRowSnr;
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{
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std::vector<double> dataSnrRow;
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std::vector<double> dataSquareRow;
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for (int j = 0; j < x->data[i].size(); j++)
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{
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dataSnrRow.push_back(10 * log10(std::abs(x->data[i][j])) - x->noisePower);
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dataSquareRow.push_back(std::abs(x->data[i][j]) * std::abs(x->data[i][j]));
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}
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dataSnr.push_back(dataSnrRow);
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dataSquare.push_back(dataSquareRow);
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}
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int32_t nDelayBins = x->get_nRows();
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int32_t nDopplerBins = x->get_nCols();
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// store detections temporarily
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// store detections temporarily
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std::vector<double> delay;
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std::vector<double> delay;
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@ -44,16 +33,28 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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std::vector<double> snr;
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std::vector<double> snr;
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// loop over every cell
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// loop over every cell
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for (int iDelay = 0; iDelay < nDelayBins; iDelay++)
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for (int i = 0; i < nDopplerBins; i++)
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{
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{
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for (int iDoppler = 0; iDoppler < nDopplerBins; iDoppler++)
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mapRow = x->get_row(i);
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for (int j = 0; j < nDelayBins; j++)
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{
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mapRowSquare.push_back((double) std::abs(mapRow[j]*mapRow[j]));
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mapRowSnr.push_back((double)20 * std::log10(std::abs(mapRow[j])));
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}
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for (int j = 0; j < nDelayBins; j++)
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{
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{
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// get train cell indices
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// get train cell indices
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std::vector<int> iTrain;
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std::vector<int> iTrain;
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for (int k = iDelay - nGuard - nTrain; k <= iDelay + nGuard + nTrain; ++k)
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for (int k = j-nGuard-nTrain; k < j-nGuard; k++)
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{
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{
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if (k >= 1 && k <= nDelayBins)
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if (k > 0 && k < nDelayBins)
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{
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iTrain.push_back(k);
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}
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}
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for (int k = j+nGuard+1; k < j+nGuard+nTrain+1; k++)
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{
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if (k >= 0 && k < nDelayBins)
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{
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{
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iTrain.push_back(k);
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iTrain.push_back(k);
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}
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}
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@ -63,22 +64,23 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
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int nCells = iTrain.size();
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int nCells = iTrain.size();
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double alpha = nCells * (pow(pfa, -1.0 / nCells) - 1);
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double alpha = nCells * (pow(pfa, -1.0 / nCells) - 1);
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double trainNoise = 0.0;
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double trainNoise = 0.0;
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for (int k = 0; k < nCells; ++k)
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for (int k = 0; k < nCells; k++)
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{
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{
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trainNoise += dataSquare[iDoppler][iTrain[k] - 1];
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trainNoise += mapRowSquare[iTrain[k]];
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}
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}
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trainNoise /= nCells;
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trainNoise /= nCells;
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double threshold = alpha * trainNoise;
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double threshold = alpha * trainNoise;
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// detection if over threshold
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// detection if over threshold
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if (dataSquare[iDoppler][iDelay] > threshold)
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if (mapRowSquare[j] > threshold)
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{
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{
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delay.push_back(iDelay + x->delay[0] - 1);
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delay.push_back(j + x->delay[0] - 1);
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doppler.push_back(x->doppler[iDoppler]);
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doppler.push_back(x->doppler[i]);
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//snr.push_back(dataSnr[iDoppler][iDelay]);
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snr.push_back(mapRowSnr[j]);
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snr.push_back(-1);
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}
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}
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iTrain.clear();
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}
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}
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mapRowSquare.clear();
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}
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}
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// create detection
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// create detection
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@ -3,7 +3,7 @@
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/// @brief A class to implement a 1D CFAR detector.
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/// @brief A class to implement a 1D CFAR detector.
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/// @details Converts an AmbiguityMap to DetectionData. 1D CFAR operates across delay, to minimise detections from the zero-Doppler line.
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/// @details Converts an AmbiguityMap to DetectionData. 1D CFAR operates across delay, to minimise detections from the zero-Doppler line.
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/// @author 30hours
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/// @author 30hours
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/// @todo SNR value is broken in process(), temp value -1.
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/// @todo Actually implement the min delay and Doppler.
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#ifndef CFARDETECTOR1D_H
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#ifndef CFARDETECTOR1D_H
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#define CFARDETECTOR1D_H
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#define CFARDETECTOR1D_H
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/// @brief Number of single-sided training cells.
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/// @brief Number of single-sided training cells.
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int8_t nTrain;
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int8_t nTrain;
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/// @brief Minimum delay to process detections (bins).
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int8_t minDelay;
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/// @brief Minimum absolute Doppler to process detections (Hz).
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double minDoppler;
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/// @brief Pointer to detection data to store result.
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/// @brief Pointer to detection data to store result.
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Detection *detection;
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Detection *detection;
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@ -33,8 +39,10 @@ public:
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/// @param pfa Probability of false alarm, numeric in [0,1].
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/// @param pfa Probability of false alarm, numeric in [0,1].
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/// @param nGuard Number of single-sided guard cells.
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/// @param nGuard Number of single-sided guard cells.
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/// @param nTrain Number of single-sided training cells.
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/// @param nTrain Number of single-sided training cells.
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/// @param minDelay Minimum delay to process detections (bins).
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/// @param minDoppler Minimum absolute Doppler to process detections (Hz).
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/// @return The object.
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/// @return The object.
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CfarDetector1D(double pfa, int8_t nGuard, int8_t nTrain);
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CfarDetector1D(double pfa, int8_t nGuard, int8_t nTrain, int8_t minDelay, double minDoppler);
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/// @brief Destructor.
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/// @brief Destructor.
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/// @return Void.
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/// @return Void.
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