关于热力图range heat map for zero Doppler数据来源的函数

你好，

请参考\mmwave_sdk_03_05_00_04\packages\ti\datapath\dpc\dpu\aoaproc\src\aoaprocdsp.c里的函数AoAProcDSP_RangeAzimuthHeatmap。

 你好，AoAProcDSP_RangeAzimuthHeatmap函数如下：

static inline int32_t AoAProcDSP_RangeAzimuthHeatmap(AOADspObj *aoaDspObj,
volatile uint32_t *waitingTime)
{
volatile uint32_t startTimeWait;
int32_t retVal = 0;
cmplx16ImRe_t *radarCubeBase;
DPU_AoAProcDSP_HW_Resources *res;
DPU_AoAProcDSP_StaticConfig *DPParams;
uint16_t rxAntIdx, rangeIdx, txAntIdx, rxAntIdxPing, txAntIdxPing, numAzimTxAnt;
uint16_t nextTransferRxIdx, nextTransferRangeIdx, nextTransferTxIdx;
uint32_t pingPongIdx, nextTransferIdx;
uint8_t channel;
cmplx16ImRe_t *inpBuf;
cmplx16ImRe_t *bpmPingBuff;

res = &aoaDspObj->res;
DPParams = &aoaDspObj->params;
radarCubeBase = (cmplx16ImRe_t *)res->radarCube.data;

/*Use scratch1Buff to temporarily store ping data until pong data is available.
Note that scratch1Buff is always bigger than pingBuf and scratch1Buff is only used on the
angle estimation so it is safe to use it here. This is needed for BPM only.*/
bpmPingBuff = (cmplx16ImRe_t *)res->scratch1Buff;

/*Compute number of azimuth antennas. */
numAzimTxAnt = DPParams->numTxAntennas;
if(DPParams->numVirtualAntElev > 0 )
{
numAzimTxAnt--;
}

/* Reset ping/pong index */
pingPongIdx = DPU_AOAPROCDSP_PING_IDX;

/* Trigger first DMA.
Note: EDMA ping/pong scheme should cover only azimuth antennas and must bring antenna data
for consecutive TX antennas such that BPM can be decoded with one set of ping/pong buffers
without the need to store extra ping/pong buffers.
It should also support combinations of [1,2] TX antennas and [2,4] RX antennas.
The scheme used here satisfies the requirements above and do not require reconfiguring the EDMA
channels (except for source address). Therefore, once the DPU configures the EDMA channel, (one ping
and one pong channel), the same channels can be used by the azimuth computation and AoA estimation
by just changing the source addresses. */
EDMA_setSourceAddress(res->edmaHandle,
res->edmaPing.channel,
(uint32_t) &radarCubeBase[0]);

EDMA_startDmaTransfer(res->edmaHandle, res->edmaPing.channel);

for (rangeIdx = 0; rangeIdx < DPParams->numRangeBins; rangeIdx++)
{
for (rxAntIdx = 0; rxAntIdx < DPParams->numRxAntennas; rxAntIdx++)
{
for (txAntIdx = 0; txAntIdx < numAzimTxAnt; txAntIdx++)
{
/* verify that previous DMA has completed */
startTimeWait = Cycleprofiler_getTimeStamp();
retVal = AoAProcDSP_waitInData (res, pingPongIdx);
if(retVal != 0)
{
goto exit;
}
*waitingTime += Cycleprofiler_getTimeStamp() - startTimeWait;

/*Find index in radar cube for next EDMA.*/
nextTransferTxIdx = txAntIdx + 1;
nextTransferRxIdx = rxAntIdx;
nextTransferRangeIdx = rangeIdx;

if(nextTransferTxIdx == numAzimTxAnt)
{
nextTransferTxIdx = 0;
nextTransferRxIdx++;
if(nextTransferRxIdx == DPParams->numRxAntennas)
{
nextTransferRxIdx = 0;
nextTransferRangeIdx++;
}
}

nextTransferIdx = (nextTransferTxIdx * DPParams->numRxAntennas * DPParams->numDopplerChirps +
nextTransferRxIdx) * DPParams->numRangeBins + nextTransferRangeIdx;

/*Last computation happens when nextTransferRangeIdx reaches numRangeBins.
This indicates that, the current virtual antenna is the last one for (numRangeBins-1).
Therefore, do not trigger next EDMA.*/
if(nextTransferRangeIdx < DPParams->numRangeBins)
{
/* kick off next DMA */
if (pingPongIdx == DPU_AOAPROCDSP_PONG_IDX)
{
channel = res->edmaPing.channel;
}
else
{
channel = res->edmaPong.channel;
}

EDMA_setSourceAddress(res->edmaHandle, channel,
(uint32_t) &radarCubeBase[nextTransferIdx]);

EDMA_startDmaTransfer(res->edmaHandle, channel);
}

inpBuf = (cmplx16ImRe_t *) &res->pingPongBuf[pingPongIdx * DPParams->numDopplerChirps];

/* Remove static clutter? */
if (aoaDspObj->dynLocalCfg.staticClutterCfg.isEnabled)
{
AoAProcDSP_clutterRemoval(DPParams, inpBuf);
}

if(DPParams->isBpmEnabled)
{
/*If BPM is enabled, need to store 2 sets of
doppler bins (1 ping + 1 pong) so that BPM decoding can be done later on.
The order of the EDMA assures that consecutive ping/pong buffers have the correct
data for BPM decoding.*/

if(pingPongIdx == DPU_AOAPROCDSP_PING_IDX)
{
memcpy((void*)&bpmPingBuff[0], inpBuf, DPParams->numDopplerChirps * sizeof(cmplx16ImRe_t));

/*Store ping indexes to be used later when both ping and pong are available.*/
rxAntIdxPing = rxAntIdx;
txAntIdxPing = txAntIdx;
}
else
{
/*Decode BPM*/
AoAProcDSP_azimuthHeatMapDecodeBPM(bpmPingBuff,/*Ping data*/
inpBuf, /*Pong data*/
DPParams->numDopplerChirps);

/* Compute heatmap value from ping data*/
AoAProcDSP_computeHeatMapVal(aoaDspObj,
bpmPingBuff,
rxAntIdxPing,
txAntIdxPing,
rangeIdx);

/* Compute heatmap value from pong data*/
AoAProcDSP_computeHeatMapVal(aoaDspObj,
inpBuf,
rxAntIdx,
txAntIdx,
rangeIdx);
}
}
else
{/*BPM not enabled*/

AoAProcDSP_computeHeatMapVal(aoaDspObj,
inpBuf,
rxAntIdx,
txAntIdx,
rangeIdx);
}

pingPongIdx ^= 1;
}/*txAntIdx*/
} /* rxAntIdx */
}/*rangeIdx*/

exit:
return retVal;
}

和下面的图的不一样，里面好像没有涉及到计算热力图Z值，下图中的就有

你好，
请问visualizer GUI的源代码在哪里能下载呢？
我想在本地完成heat map的计算，用的是这一段代码（在英文论坛里找到的）：
% range-azimuth static heat map, this is a 2D FFT array in range direction (x[numRangeBins][numVirtualAntAzim]), at doppler index 0, sized to azimuthStaticHeatMapSize elements of type cplx16ImRe_t
function [Q, q] = getAzimuthStaticHeatMap(numTxAzimAnt, numRxAnt, numRangeBins, numAngleBins)
datafile=fopen('azimuth.txt','r');
[payload,~]=fscanf(datafile,'%d',inf);
[r,c] = size(payload);
if(r<c)
payload = payload';
end

numVirtualAntenna = numTxAzimAnt * numRxAnt;
q = payload;
%q = q(1:2:end)+q(2:2:end)*256;
%q(q>32767) = q(q>32767) - 65536;
q = 1j*q(1:2:end)+q(2:2:end); %Imaginary first, real second
q = reshape(q, numVirtualAntenna, numRangeBins);


Q = fft(q, numAngleBins);

%Near field corrected
q1=q;
q2=q;
q1(5:8,:) = 0;
q2(1:4,:) = 0;
Q1 = fft(q1, numAngleBins);
Q2 = fft(q2, numAngleBins);
%Qcorr = Q1 + Q2.* nearEndCorr;

figure('Name','Azimuth Static Heatmap')
%Q = frame(frameIdx).azHeatmap.Q;
NUM_ANGLE_BINS = size(Q,1);
theta = asind([-NUM_ANGLE_BINS/2+1 : NUM_ANGLE_BINS/2-1]'*(2/NUM_ANGLE_BINS));
range = rangeBin2Meters;
posX = range' * sind(theta');
posY = range' * cosd(theta');
xlin=linspace(-floor(range(end)),ceil(range(end)),200);
ylin=linspace(0,ceil(range(end)),200);
[X,Y]=meshgrid(xlin,ylin);

QQ = fftshift(abs(Q),1);
QQ=QQ.';
QQ=QQ(:,2:end);
Z=griddata(posX,posY,QQ,X,Y,'linear');
hAzimuthHeatmapPlot = surf(xlin,ylin,Z);
shading INTERP
view([0,90])
axis('equal')
axis([-ceil(range(end)) ceil(range(end)) 0 ceil(range(end))])
xlabel('Range X-Axis [m]');
ylabel('Range Y-Axis [m]');
titleStr = sprintf('Frame %d, Azimuth Static Heatmap', frame(frameIdx).header.frameNumber);
title(titleStr)
return

但是里面没有定义rangeBin2Meters，无法运行。

Chenming,

如果你使用的是在在线版本的visualizer，你可以在Chrome浏览器访问相关地址后，按F12，看到相关源码。

如果你使用的是离线版本的visualizer，请参考下面的论坛讨论，找到相关代码。

e2e.ti.com/.../797254

谢谢！已经找到了这段代码，原来是新版本用了js，还改了函数名