Compute radar power & noise levels, improve rcs #264
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Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
* Add debug development chnages. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add fixes for RCS calculation. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Reduce mess in RCS calculation kernel. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Remove not used variable. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Remove not necessary dependency on hit position. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Compute radar energy locally to be independent on lidar pose * Make update to lower RCS value near 90 and -90 degrees. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Cleanup radar postprocessing node (revert clustering changes) * Make log constexpr (maybe perf optimization) * Get rid of M_PIf * Remove calculateMat function --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai>
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* Add power computation * Fix static_asserts in core.h * Working prototype, need to fix values * Make updates to radar power calculation. Make minor fixes. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add additional radar parameters * Add noise params and RCS NaN check * Fix clustering test * Fix reflecting polarization. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Change not necessary complex to scalar. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Fix ray dir (to reflected dir) for scattered field calculation. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Update azimuth and elevation angles in ray generation in RCS radar test. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Improve rcs (#273) * Add debug development chnages. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Add fixes for RCS calculation. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Reduce mess in RCS calculation kernel. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Remove not used variable. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Remove not necessary dependency on hit position. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Compute radar energy locally to be independent on lidar pose * Make update to lower RCS value near 90 and -90 degrees. Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Cleanup radar postprocessing node (revert clustering changes) * Make log constexpr (maybe perf optimization) * Get rid of M_PIf * Remove calculateMat function --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> * Radar power as power received + noise * Cleanup parameters * Remove rcsAngleDistributionTest * Review changes --------- Signed-off-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Paweł Liberadzki <pawel.liberadzki@robotec.ai> Co-authored-by: Mateusz Szczygielski <112629916+msz-rai@users.noreply.github.com> Co-authored-by: Mateusz Szczygielski <mateusz.szczygielski@robotec.ai>
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