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feat: add radar config for dream pcd
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| readObj: | ||
| iqSwap: 0 | ||
| numLane: 2 | ||
| chInterleave: 1 | ||
| dataSizeOneFrame: 196608 | ||
| numAdcSamplePerChirp: 128 | ||
| numChirpsPerFrame: 24 | ||
| numTxForMIMO: 3 | ||
| numRxForMIMO: 4 | ||
| rangeFFTObj: | ||
| radarPlatform: AWR1843Boosting | ||
| rangeFFTSize: 128 | ||
| dcOffsetCompEnable: 1 | ||
| rangeWindowEnable: 1 | ||
| FFTOutScaleOn: 0 | ||
| scaleFactorRange: 0.03125 | ||
| rangeResolution: 0.09375 | ||
| maxRange: 6.0 | ||
| dopplerFFTObj: | ||
| dopplerFFTSize: 128 | ||
| dopplerWindowEnable: 0 | ||
| FFTOutScaleOn: 0 | ||
| scaleFactorDoppler: 0.03125 | ||
| velocityResolution: 1.165316453336068 | ||
| maximumVelocity: 13.983797440032816 | ||
| detectObj: | ||
| detectMethod: 1 | ||
| numAntenna: 12 | ||
| refWinSize: | ||
| - 8 | ||
| - 4 | ||
| guardWinSize: | ||
| - 8 | ||
| - 0 | ||
| K0: | ||
| - 5 | ||
| - 3 | ||
| maxEnable: 0 | ||
| rangeBinSize: 0.09375 | ||
| velocityBinSize: 0.10924841750025638 | ||
| rangeFFTSize: 128 | ||
| dopplerFFTSize: 128 | ||
| powerThre: 0 | ||
| discardCellLeft: 0 | ||
| discardCellRight: 0 | ||
| numRxAnt: 4 | ||
| TDM_MIMO_numTX: 3 | ||
| minDisApplyVmaxExtend: 10 | ||
| applyVmaxExtend: 0 | ||
| DOAObj: | ||
| D: | ||
| - - 0 | ||
| - 0 | ||
| - - 1 | ||
| - 0 | ||
| - - 2 | ||
| - 0 | ||
| - - 3 | ||
| - 0 | ||
| - - 2 | ||
| - 1 | ||
| - - 3 | ||
| - 1 | ||
| - - 4 | ||
| - 1 | ||
| - - 5 | ||
| - 1 | ||
| - - 4 | ||
| - 0 | ||
| - - 5 | ||
| - 0 | ||
| - - 6 | ||
| - 0 | ||
| - - 7 | ||
| - 0 | ||
| DOAFFTSize: 128 | ||
| antenna_DesignFreq: 79000000000.0 | ||
| antPos: | ||
| - 0 | ||
| - 1 | ||
| - 2 | ||
| - 3 | ||
| - 4 | ||
| - 5 | ||
| - 6 | ||
| - 7 | ||
| - 8 | ||
| - 9 | ||
| - 10 | ||
| - 11 | ||
| antenna_azimuthonly: 0 | ||
| antDis: 0.5117 | ||
| method: 1 | ||
| angles_DOA_azi: | ||
| - -80 | ||
| - 80 | ||
| angles_DOA_ele: | ||
| - -20 | ||
| - 20 | ||
| gamma: 1.0471285480508996 | ||
| sidelobeLevel_dB: | ||
| - 1 | ||
| - 0 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| """ | ||
| Author : Shelta Zhao(赵小棠) | ||
| Email : xiaotang_zhao@outlook.com | ||
| Copyright (C) : NJU DisLab, 2025. | ||
| Description : DREAM-PCD pipeline to generate Point Cloud Data (PCD) from raw radar data. | ||
| """ | ||
|
|
||
| import os | ||
| import sys | ||
| import yaml | ||
| import numpy as np | ||
| from tqdm import tqdm | ||
|
|
||
| sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), '../'))) | ||
| from handler.param_process import get_radar_params | ||
| from handler.adc_load import get_regular_data | ||
| from module.fft_process import FFTProcessor | ||
| from module.cfar_process import CFARProcessor | ||
| from module.doa_process import DOAProcessor | ||
| from utility.visualizer_box import PCD_display | ||
|
|
||
|
|
||
| def dream_pcd_pipeline(adc_list, device, save=False, display=False): | ||
| """ | ||
| Generate Point Cloud Data (PCD) from raw radar data. | ||
| Parameters: | ||
| adc_list (str): The list of ADC data to be processed. | ||
| device (str): The device to perform the computation on ('cpu' or 'cuda'). | ||
| save (bool): Whether to save the results to a file. | ||
| display (bool): Whether to display the results. | ||
| Returns: | ||
| point_cloud_data (np.ndarray): The generated Point Cloud Data (PCD) from the raw radar data. | ||
| """ | ||
|
|
||
| # Parse data config & Get radar params | ||
| with open(f"{adc_list}.yaml", "r") as file: | ||
| adc_list = yaml.safe_load(file) | ||
|
|
||
| # Process each data in the list | ||
| for adc_data in adc_list: | ||
|
|
||
| # Print the current data info | ||
| print(f"Processing data: {adc_data['prefix']} | {adc_data['config']} | {adc_data['radar']}") | ||
|
|
||
| # Generate regular data & radar params | ||
| data_path = os.path.join("data/adc_data", f"{adc_data['prefix']}/{adc_data['index']}") | ||
| config_path = os.path.join("data/radar_config", adc_data["config"]) | ||
|
|
||
| radar_params = get_radar_params(config_path, adc_data['radar']) | ||
| regular_data, _ = get_regular_data(data_path, radar_params['readObj'], 'all', timestamp=True) | ||
|
|
||
| # Update the radar parameters | ||
| radar_params['detectObj']['refWinSize'] = [8,4] | ||
| radar_params['detectObj']['guardWinSize'] = [8,0] | ||
| radar_params['detectObj']['K0'] = [5,3] | ||
| radar_params['detectObj']['discardCellLeft'] = 10 | ||
| radar_params['detectObj']['discardCellRight'] = 20 | ||
|
|
||
| # Generate all module instances | ||
| fft_processor = FFTProcessor(radar_params['rangeFFTObj'], radar_params['dopplerFFTObj'], device) | ||
| cfar_processor = CFARProcessor(radar_params['detectObj'], device) | ||
| doa_processor = DOAProcessor(radar_params['DOAObj'], device) | ||
|
|
||
| # Perform Range & Doppler FFT | ||
| fft_output = fft_processor.run(regular_data) | ||
| print(fft_output.shape) | ||
| # Perform CFAR Detection | ||
| cfar_output = cfar_processor.run(fft_output) | ||
| print(cfar_output.shape) | ||
| # Perform DOA Estimation | ||
| doa_output = doa_processor.run(cfar_output) | ||
| print(doa_output.shape) | ||
| # Display the results | ||
| if display: | ||
| PCD_display(doa_output, radar_params['DOAObj']['angles_DOA_azi'], radar_params['DOAObj']['angles_DOA_ele']) |