CfarDetector1D is mostly working at /api/detection

.dockerignore

@@ -0,0 +1 @@
+save/

config/config.yml

@@ -24,6 +24,8 @@ process:
     pfa: 0.000001
     nGuard: 10
     nTrain: 20
+    minDelay: 5
+    minDoppler: 20
 
 network:
   ip: 0.0.0.0

config/radar4.yml

@@ -24,6 +24,8 @@ process:
     pfa: 0.000001
     nGuard: 10
     nTrain: 20
+    minDelay: 5
+    minDoppler: 20
 
 network:
   ip: 0.0.0.0

src/blah2.cpp

@@ -145,12 +145,14 @@ int main(int argc, char **argv)
   WienerHopf *filter = new WienerHopf(delayMinClutter, delayMaxClutter, nSamples);
 
   // setup process detection
-  double pfa;
-  int8_t nGuard, nTrain;
+  double pfa, minDoppler;
+  int8_t nGuard, nTrain, minDelay;
   tree["process"]["detection"]["pfa"] >> pfa;
   tree["process"]["detection"]["nGuard"] >> nGuard;
   tree["process"]["detection"]["nTrain"] >> nTrain;
-  CfarDetector1D *cfarDetector1D = new CfarDetector1D(pfa, nGuard, nTrain);
+  tree["process"]["detection"]["minDelay"] >> minDelay;
+  tree["process"]["detection"]["minDoppler"] >> minDoppler;
+  CfarDetector1D *cfarDetector1D = new CfarDetector1D(pfa, nGuard, nTrain, minDelay, minDoppler);
 
   // setup output data
   bool saveMap;
@@ -217,7 +219,7 @@ int main(int argc, char **argv)
           timing_time.push_back(delta_t3);
 
           // detection process
-          // detection = cfarDetector1D->process(map);
+          detection = cfarDetector1D->process(map);
           uint64_t t4 = current_time_us();
           double delta_t4 = (double)(t4-t3) / 1000;
           timing_name.push_back("detector");
@@ -238,13 +240,14 @@ int main(int argc, char **argv)
           }
 
           // output detection data
-          // detectionJson = detection->to_json();
-          // for (int i = 0; i < (detectionJson.size() + MTU - 1) / MTU; i++)
-          // {
-          //   subdata = detectionJson.substr(i * MTU, MTU);
-          //   socket_detection.write_some(asio::buffer(subdata, subdata.size()), err);
-          // }
-          // delete detection;
+          detectionJson = detection->to_json();
+          detectionJson = detection->delay_bin_to_km(detectionJson, fs);
+          for (int i = 0; i < (detectionJson.size() + MTU - 1) / MTU; i++)
+          {
+            subdata = detectionJson.substr(i * MTU, MTU);
+            socket_detection.write_some(asio::buffer(subdata, subdata.size()), err);
+          }
+          delete detection;
           
           // output radar data timer
           uint64_t t5 = current_time_us();

src/data/Detection.cpp

@@ -64,6 +64,27 @@ std::string Detection::to_json()
   return strbuf.GetString();
 }
 
+std::string Detection::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();
+}
+
 bool Detection::save(std::string _json, std::string filename)
 {
   using namespace rapidjson;

src/data/Detection.h

@@ -37,6 +37,12 @@ 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 detections to a save file.
   /// @param json JSON string of detections and metadata.
   /// @param path Path of file to save.

src/process/detection/CfarDetector1D.cpp

@@ -1,15 +1,18 @@
 #include "CfarDetector1D.h"
+#include "Map.h"
 #include <iostream>
 #include <vector>
 #include <cmath>
 
 // constructor
-CfarDetector1D::CfarDetector1D(double _pfa, int8_t _nGuard, int8_t _nTrain)
+CfarDetector1D::CfarDetector1D(double _pfa, int8_t _nGuard, int8_t _nTrain, int8_t _minDelay, double _minDoppler)
 {
   // input
   pfa = _pfa;
   nGuard = _nGuard;
   nTrain = _nTrain;
+  minDelay = _minDelay;
+  minDoppler = _minDoppler;
 }
 
 CfarDetector1D::~CfarDetector1D()
@@ -18,25 +21,11 @@ CfarDetector1D::~CfarDetector1D()
 
 Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
 { 
-  std::vector<std::vector<double>> dataSnr;
-  std::vector<std::vector<double>> dataSquare;
+  int32_t nDelayBins = x->get_nCols();
+  int32_t nDopplerBins = x->get_nRows();
 
-  // compute square of Map
-  for (int i = 0; i < x->data.size(); i++)
-  {
-    std::vector<double> dataSnrRow;
-    std::vector<double> dataSquareRow;
-    for (int j = 0; j < x->data[i].size(); j++)
-    {
-      dataSnrRow.push_back(10 * log10(std::abs(x->data[i][j])) - x->noisePower);
-      dataSquareRow.push_back(std::abs(x->data[i][j]) * std::abs(x->data[i][j]));
-    }
-    dataSnr.push_back(dataSnrRow);
-    dataSquare.push_back(dataSquareRow);
-  }
-
-  int32_t nDelayBins = x->get_nRows();
-  int32_t nDopplerBins = x->get_nCols();
+  std::vector<std::complex<double>> mapRow;
+  std::vector<double> mapRowSquare, mapRowSnr;
 
   // store detections temporarily
   std::vector<double> delay;
@@ -44,16 +33,28 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
   std::vector<double> snr;
 
   // loop over every cell
-  for (int iDelay = 0; iDelay < nDelayBins; iDelay++)
+  for (int i = 0; i < nDopplerBins; i++)
   { 
-    for (int iDoppler = 0; iDoppler < nDopplerBins; iDoppler++)
+    mapRow = x->get_row(i);
+    for (int j = 0; j < nDelayBins; j++)
+    {
+      mapRowSquare.push_back((double) std::abs(mapRow[j]*mapRow[j]));
+      mapRowSnr.push_back((double)20 * std::log10(std::abs(mapRow[j])));
+    }
+    for (int j = 0; j < nDelayBins; j++)
     {
-
       // get train cell indices
       std::vector<int> iTrain;
-      for (int k = iDelay - nGuard - nTrain; k <= iDelay + nGuard + nTrain; ++k)
+      for (int k = j-nGuard-nTrain; k < j-nGuard; k++)
       {
-        if (k >= 1 && k <= nDelayBins)
+        if (k > 0 && k < nDelayBins)
+        {
+          iTrain.push_back(k);
+        }
+      }
+      for (int k = j+nGuard+1; k < j+nGuard+nTrain+1; k++)
+      {
+        if (k >= 0 && k < nDelayBins)
         {
           iTrain.push_back(k);
         }
@@ -63,22 +64,23 @@ Detection *CfarDetector1D::process(Map<std::complex<double>> *x)
       int nCells = iTrain.size();
       double alpha = nCells * (pow(pfa, -1.0 / nCells) - 1);
       double trainNoise = 0.0;
-      for (int k = 0; k < nCells; ++k)
+      for (int k = 0; k < nCells; k++)
       {
-        trainNoise += dataSquare[iDoppler][iTrain[k] - 1];
+        trainNoise += mapRowSquare[iTrain[k]];
       }
       trainNoise /= nCells;
       double threshold = alpha * trainNoise;
 
       // detection if over threshold
-      if (dataSquare[iDoppler][iDelay] > threshold)
+      if (mapRowSquare[j] > threshold)
       {
-        delay.push_back(iDelay + x->delay[0] - 1);
-        doppler.push_back(x->doppler[iDoppler]);
-        //snr.push_back(dataSnr[iDoppler][iDelay]);
-        snr.push_back(-1);
+        delay.push_back(j + x->delay[0] - 1);
+        doppler.push_back(x->doppler[i]);
+        snr.push_back(mapRowSnr[j]);
       }
+      iTrain.clear();
     }
+    mapRowSquare.clear();
   }
 
   // create detection

src/process/detection/CfarDetector1D.h

@@ -3,7 +3,7 @@
 /// @brief A class to implement a 1D CFAR detector.
 /// @details Converts an AmbiguityMap to DetectionData. 1D CFAR operates across delay, to minimise detections from the zero-Doppler line.
 /// @author 30hours
-/// @todo SNR value is broken in process(), temp value -1.
+/// @todo Actually implement the min delay and Doppler.
 
 #ifndef CFARDETECTOR1D_H
 #define CFARDETECTOR1D_H
@@ -25,6 +25,12 @@ private:
   /// @brief Number of single-sided training cells.
   int8_t nTrain;
 
+  /// @brief Minimum delay to process detections (bins).
+  int8_t minDelay;
+
+  /// @brief Minimum absolute Doppler to process detections (Hz).
+  double minDoppler;
+
   /// @brief Pointer to detection data to store result.
   Detection *detection;
 
@@ -33,8 +39,10 @@ public:
   /// @param pfa Probability of false alarm, numeric in [0,1].
   /// @param nGuard Number of single-sided guard cells.
   /// @param nTrain Number of single-sided training cells.
+  /// @param minDelay Minimum delay to process detections (bins).
+  /// @param minDoppler Minimum absolute Doppler to process detections (Hz).
   /// @return The object.
-  CfarDetector1D(double pfa, int8_t nGuard, int8_t nTrain);
+  CfarDetector1D(double pfa, int8_t nGuard, int8_t nTrain, int8_t minDelay, double minDoppler);
 
   /// @brief Destructor.
   /// @return Void.