Radar Cube¶
- class RadarCube(data, angle_bins=None, doppler_bins=None, range_bins=None, carrier_frequency=0.0)[source]¶
Bases:
HDFSerializable
A representation of raw radar image samples.
- Parameters:
data (numpy.ndarray) – Raw radar cube data. Three-dimensional real-valued numpy tensor
, where denotes the number of discrete angle of arrival bins, denotes the number of discrete doppler frequency bins, and denotes the number of discrete range bins.angle_bins (numpy.ndarray) – Numpy matrix specifying the represented discrete angle of arrival bins. Must be of dimension
, the second dimension denoting azimuth and zenith of arrival in radians, respectively.doppler_bins (numpy.ndarray) – Numpy vector specifying the represented discrete doppler frequency shift bins in Hz. Must be of dimension
.range_bins (numpy.ndarray) – Numpy vector specifying the represented discrete range bins in
. Must be of dimension .carrier_frequency (float, optional) – Central carrier frequency of the radar in Hz. Zero by default.
- Raises:
ValueError – If the argument numpy arrays have unexpected dimensions or if their dimensions don’t match.
- property angle_bins: ndarray¶
Discrete angle estimation bins.
- Returns:
Numpy matrix of dimension
, the second dimension denoting azimuth and zenith of arrival in radians, respectively.
- property data: ndarray¶
Raw radar cube data.
Three-dimensional real-valued numpy tensor
, where denotes the number of discrete angle of arrival bins, denotes the number of discrete doppler frequency bins, and denotes the number of discrete range bins.Returns: Radar cube numpy tensor.
- property doppler_bins: ndarray¶
Discrete doppler shift estimation bins.
- Returns:
Numpy vector specifying the represented discrete doppler frequency bins in Hz.
- property plot_angles: _AnglePlot¶
Visualize the cube’s angle-power profile.
- Parameters:
title (str, optional) – Plot title.
Returns: The generated image plot.
- property plot_range: _RangePlot¶
Visualize the cube’s range-power profile.
- Parameters:
title (str, optional) – Plot title.
scale (Literal['lin', 'log'], optional) – Plot the power axis in linear or logarithmic scale. If not specified, linear scaling is preferred.
Returns: The generated line plot.
- property plot_range_velocity: _RangeVelocityPlot¶
Visualize the cube’s range-velocity profile.
- Parameters:
title (str, optional) – Plot title.
scale (Literal['frequency', 'velocity'], optional) – Plot the velocity axis in frequency (Hz) or velocity units (m/s). If not specified, plotting in velocity is preferred, if the carrier frequency is known.
Returns: The generated image plot.
- property range_bins: ndarray¶
Discrete range estimation bins.
- Returns:
Numpy vector specifying the represented discrete range bins in
.
- property velocity_bins: ndarray¶
Discrete doppler estimation bins.
- Returns:
Numpy vector specifying the represented discrete doppler velocity bins in
.- Raises:
RuntimeError – If the carrier frequency is not specified.