Radar Model

Detailed Description

Calibrated radar model abstraction and functionality.

Typedefs
typedef struct dwRadarModelObject *	dwRadarModelHandle_t
	A pointer to the handle representing a calibrated radar model. More...
typedef struct dwRadarModelObject const *	dwConstRadarModelHandle_t
	A pointer to the handle representing a const calibrated radar model. More...

Functions
DW_API_PUBLIC dwStatus	dwRadarModel_initialize (dwRadarModelHandle_t *radarModel, uint32_t sensorId, dwConstRigHandle_t obj)
	Creates a calibrated radar model for a compatible sensor from rig. More...
DW_API_PUBLIC dwStatus	dwRadarModel_initializeFromConfig (dwRadarModelHandle_t *radarModel, dwRadarAzimuthCorrectionModelConfig const *radarConfig)
	Creates a calibrated radar model for a compatible sensor from model config. More...
DW_API_PUBLIC dwStatus	dwRadarModel_release (dwRadarModelHandle_t obj)
	Releases the calibrated radar model. More...
DW_API_PUBLIC dwStatus	dwRadarModel_getCorrectedAzimuth (float32_t *correctedAzimuthRad, float32_t measuredAzimuthRad, dwConstRadarModelHandle_t obj)
	Corrects a measured azimuth angle using the provided radar model. More...
DW_API_PUBLIC dwStatus	dwRadarModel_applyCorrection (dwRadarScan *radarScan, dwConstRadarModelHandle_t obj)
	Apply correction to all detections in a radar scan using the provided radar model. More...

Typedef Documentation

dwConstRadarModelHandle_t

typedef struct dwRadarModelObject const* dwConstRadarModelHandle_t

A pointer to the handle representing a const calibrated radar model.

Definition at line 48 of file RadarModel.h.

dwRadarModelHandle_t

typedef struct dwRadarModelObject* dwRadarModelHandle_t

A pointer to the handle representing a calibrated radar model.

This object allows correcting azimuth angle bias errors in measured detections.

Definition at line 43 of file RadarModel.h.

Function Documentation

dwRadarModel_applyCorrection()

DW_API_PUBLIC dwStatus dwRadarModel_applyCorrection	(	dwRadarScan *	radarScan,
		dwConstRadarModelHandle_t	obj
	)

Apply correction to all detections in a radar scan using the provided radar model.

Parameters

[in,out]	radarScan	A pointer to the radar scan to be corrected in-place.
[in]	obj	Specifies the handle to the calibrated radar model.

Return values

DW_INVALID_ARGUMENT	if the given radar scan pointer is a nullptr, or if it contains returns that are not of type detection
DW_INVALID_HANDLE	if given radar model handle is invalid
DW_SUCCESS	if successful

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarModel_getCorrectedAzimuth()

DW_API_PUBLIC dwStatus dwRadarModel_getCorrectedAzimuth	(	float32_t *	correctedAzimuthRad,
		float32_t	measuredAzimuthRad,
		dwConstRadarModelHandle_t	obj
	)

Corrects a measured azimuth angle using the provided radar model.

Parameters

[out]	correctedAzimuthRad	A pointer to the corrected azimuth angle (in radians).
[in]	measuredAzimuthRad	The measured azimuth angle that will be corrected (in radians).
[in]	obj	Specifies the handle to the calibrated radar model.

Return values

DW_INVALID_ARGUMENT	if the given output pointer is a nullptr
DW_INVALID_HANDLE	if given radar model handle is invalid
DW_SUCCESS	if successful

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarModel_initialize()

DW_API_PUBLIC dwStatus dwRadarModel_initialize	(	dwRadarModelHandle_t *	radarModel,
		uint32_t	sensorId,
		dwConstRigHandle_t	obj
	)

Creates a calibrated radar model for a compatible sensor from rig.

Parameters

[out]	radarModel	A pointer to a handle for the created calibrated radar model object. Has to be released by the user with dwRadarModel_release.
[in]	sensorId	Specifies the index of the radar sensor to create a calibrated radar model for.
[in]	obj	Specifies the rig configuration module handle containing the radar model definition.

Return values

DW_INVALID_ARGUMENT	if the radar model pointer is invalid
DW_CANNOT_CREATE_OBJECT	if given sensorId is not a radar sensor
DW_OUT_OF_BOUNDS	if the sensorId is larger than the number of sensors in the rig
DW_NOT_AVAILABLE	if the the sensor in the rig does not contain radar model parameters
DW_SUCCESS	if successful

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwRadarModel_initializeFromConfig()

DW_API_PUBLIC dwStatus dwRadarModel_initializeFromConfig	(	dwRadarModelHandle_t *	radarModel,
		dwRadarAzimuthCorrectionModelConfig const *	radarConfig
	)

Creates a calibrated radar model for a compatible sensor from model config.

Parameters

[out]	radarModel	A pointer to a handle for the created calibrated radar model object. Has to be released by the user with dwRadarModel_release.
[in]	radarConfig	The radar model configuration parameters.

Return values

DW_INVALID_ARGUMENT	if the radar model pointer is invalid or if the radar model configuration is invalid
DW_SUCCESS	if successful

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwRadarModel_release()

DW_API_PUBLIC dwStatus dwRadarModel_release

(

dwRadarModelHandle_t

obj

)

Releases the calibrated radar model.

This method releases all resources associated with a calibrated radar model.

Note

This method renders the handle unusable.

Parameters

[in]

obj

The object handle to be released.

Return values

DW_INVALID_HANDLE	if given radar model handle is invalid
DW_SUCCESS	if successful

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes