From 93557dda982e4192ee291bf6cec191c6be635259 Mon Sep 17 00:00:00 2001 From: Edwin Pan Date: Mon, 16 Mar 2020 23:56:13 -0500 Subject: [PATCH 1/2] people tracking demo issue found. During last refactor round, forgot to progagate a change to the usage of aoa_capon. --- demo/people_tracking/people_tracking.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/demo/people_tracking/people_tracking.py b/demo/people_tracking/people_tracking.py index 323ed1c6..6fc846b0 100644 --- a/demo/people_tracking/people_tracking.py +++ b/demo/people_tracking/people_tracking.py @@ -69,9 +69,9 @@ # Note that when replacing with generic doppler estimation functions, radarCube is interleaved and # has doppler at the last dimension. for i in range(BINS_PROCESSED): - range_azimuth[:,i], beamWeights[:,i] = dsp.aoa_capon(steering_vec, radar_cube[:, :, i].T) + range_azimuth[:,i], beamWeights[:,i] = dsp.aoa_capon(radar_cube[:, :, i].T, steering_vec) range_azimuth = np.abs(range_azimuth) - + """ 3 (Object Detection) """ heatmap_log = np.log2(range_azimuth) From fe12c5c8c2b7e308d549f98cf53422e2fb6a7e0f Mon Sep 17 00:00:00 2001 From: Edwin Pan Date: Tue, 17 Mar 2020 00:10:34 -0500 Subject: [PATCH 2/2] Moving to more appropriate usage of aoa_capon func --- demo/people_tracking/people_tracking.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/demo/people_tracking/people_tracking.py b/demo/people_tracking/people_tracking.py index 6fc846b0..33f6d081 100644 --- a/demo/people_tracking/people_tracking.py +++ b/demo/people_tracking/people_tracking.py @@ -47,7 +47,7 @@ # Start DSP processing -range_azimuth = np.zeros((ANGLE_BINS, BINS_PROCESSED), dtype=np.complex_) +range_azimuth = np.zeros((ANGLE_BINS, BINS_PROCESSED)) num_vec, steering_vec = dsp.gen_steering_vec(ANGLE_RANGE, ANGLE_RES, VIRT_ANT) tracker = EKF() @@ -64,13 +64,12 @@ radar_cube = radar_cube - mean # --- capon beamforming - beamWeights = np.zeros((VIRT_ANT, BINS_PROCESSED)) + beamWeights = np.zeros((VIRT_ANT, BINS_PROCESSED), dtype=np.complex_) radar_cube = np.concatenate((radar_cube[0::2, ...], radar_cube[1::2, ...]), axis=1) # Note that when replacing with generic doppler estimation functions, radarCube is interleaved and # has doppler at the last dimension. for i in range(BINS_PROCESSED): - range_azimuth[:,i], beamWeights[:,i] = dsp.aoa_capon(radar_cube[:, :, i].T, steering_vec) - range_azimuth = np.abs(range_azimuth) + range_azimuth[:,i], beamWeights[:,i] = dsp.aoa_capon(radar_cube[:, :, i].T, steering_vec, magnitude=True) """ 3 (Object Detection) """ heatmap_log = np.log2(range_azimuth)