Radar Cube¶

Radar cubes represent the raw image create after the base-band processing of radar samples.

class RadarCube(data, angle_bins=None, doppler_bins=None, range_bins=None, carrier_frequency=0.0)[source]¶

Bases: Serializable

A representation of raw radar image samples.

Parameters:

data (ndarray) – Raw radar cube data. Three-dimensional real-valued numpy tensor \(\mathbb{R}^{A \times B \times C}\), where \(A\) denotes the number of discrete angle of arrival bins, \(B\) denotes the number of discrete doppler frequency bins, and \(C\) denotes the number of discrete range bins.
angle_bins (ndarray | None) – Numpy matrix specifying the represented discrete angle of arrival bins. Must be of dimension \(\mathbb{R}^{A \times 2}\), the second dimension denoting azimuth and zenith of arrival in radians, respectively.
doppler_bins (ndarray | None) – Numpy vector specifying the represented discrete doppler frequency shift bins in Hz. Must be of dimension \(\mathbb{R}^{B}\).
range_bins (ndarray | None) – Numpy vector specifying the represented discrete range bins in \(\mathrm{m}\). Must be of dimension \(\mathbb{R}^{C}\).
carrier_frequency (float) – 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.

classmethod Deserialize(process)[source]¶

Deserialize an object’s state.

Objects cannot be deserialized directly, instead a Factory must be instructed to carry out the deserialization process.

Parameters:: process (DeserializationProcess) – The current stage of the deserialization process. This object is generated by the Factory and provides an interface to deserialization methods supporting multiple backends.
Return type:: RadarCube
Returns:: The deserialized object.

normalize_power()[source]¶

Normalize the represented power indicators to unit maximum.

Return type:: None

serialize(process)[source]¶

Serialize this object’s state.

Objects cannot be serialized directly, instead a Factory must be instructed to carry out the serialization process.

Parameters:: process (SerializationProcess) – The current stage of the serialization process. This object is generated by the Factory and provides an interface to serialization methods supporting multiple backends.
Return type:: None

property angle_bins: ndarray¶

Discrete angle estimation bins.

Returns:: Numpy matrix of dimension \(\mathbb{R}^{A \times 2}\), the second dimension denoting azimuth and zenith of arrival in radians, respectively.

property carrier_frequency: float¶: Central carrier frequency of the radar in Hz.

property data: ndarray¶

Raw radar cube data.

Three-dimensional real-valued numpy tensor \(\mathbb{R}^{A \times B \times C}\), where \(A\) denotes the number of discrete angle of arrival bins, \(B\) denotes the number of discrete doppler frequency bins, and \(C\) 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 – Plot title.

Returns: The generated image plot.

property plot_range: _RangePlot¶

Visualize the cube’s range-power profile.

Parameters:

title – Plot title.
scale – 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 – Plot title.
scale – 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 \(\mathrm{m}\).

property velocity_bins: ndarray¶

Discrete doppler estimation bins.

Returns:: Numpy vector specifying the represented discrete doppler velocity bins in \(\mathrm{m/s}\).
Raises:: RuntimeError – If the carrier frequency is not specified.

class _RangePlot(cube)[source]¶

Bases: VisualizableAttribute[PlotVisualization]

Visualizable attribute for plotting a range-power profiles.

property title: str¶

Title of the visualizable.

Returns: Title string.

class _RangeVelocityPlot(cube)[source]¶

Bases: VisualizableAttribute[QuadMeshVisualization]

Visualizable attribute for plotting range-velocity profiles.

property title: str¶

Title of the visualizable.

Returns: Title string.