class RadarFrame[source]

RadarFrame(radar_config, angle_res=1, angle_range=90, origin_at_bottom_center=True, use_float32=False)

Encapsulates processing of a radar frame data cube. The RadarFrame object can be initialized once, so long as there's no change in the radar configuration. When new radar data is available, set raw radar data using the raw_cube property.

Various processing of the radar data are computed lazily on the first access to each property. Processing can also be triggered manually by calling the related methods.

This object stores intemediate steps to avoid recomputation when possible. If no new raw datacube is passed in, subsequent request for different views of the radar data are returned from the stored state.

RadarFrame.range_nbins[source]

Number of bins in range

RadarFrame.max_range[source]

Maximum range in meters, this property is computed from the radar configuration

RadarFrame.range_resolution[source]

Range resolution in meters

RadarFrame.doppler_resolution[source]

Doppler resolution in m/s

RadarFrame.max_unambiguous_doppler[source]

Maximum unambiguous doppler in m/s. In FMCW radar processing, aliasing will occur when the object's relative Doppler is above this value. i.e. if max_unambiguous_doppler is 10m/s, and the object is at 11 m/s, the computed doppler will be -9 m/s.

RadarFrame.doppler_bins[source]

Number of bins in doppler dimension

RadarFrame.raw_cube[source]

Raw radar data cube Set the radar data cube using this property. rf.raw_cube = radar_cube

This will clear all cached processed data like range_cube, range_azimuth, etc.

RadarFrame.range_cube[source]

Get the radar data as a range cube. Processing from the raw cube is done lazily on the first access to this property.

RadarFrame.range_doppler[source]

Get the radar data as a range doppler cube. Processing from the raw cube is done lazily on the first access to this property.

RadarFrame.range_azimuth_capon[source]

Get the radar data as a range azimuth cube, beamformed using the Capon beamformer. This property is computed lazily on first access.

RadarFrame.compute_range_azimuth[source]

RadarFrame.compute_range_azimuth(radar_raw=None, method='capon')

Beamform raw radar datacube Use this method to set the the raw radar data cube and perform beamforming. The beamformed data cube will be returned.

Currently only the capon method is implemented.

This is a convenience method that is equivalent to:

# rf = RadarFrame(...)
rf.raw_cube = radar_raw
beamformed_datacube = rf.range_azimuth_capon