support ray filter

radarsimx · Aug 19, 2024 · 283c023 · 283c023
1 parent 482e37f
commit 283c023
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Showing 4 changed files with 12 additions and 6 deletions.
diff --git a/.gitignore b/.gitignore
@@ -3,3 +3,4 @@
 src/radarsim.h
 src/radarsimc.dll
 /radarsimm*
+/.vscode
diff --git a/radarsimlib b/radarsimlib
diff --git a/src/+RadarSim/Radar.m b/src/+RadarSim/Radar.m
@@ -57,13 +57,12 @@
                 obj.version_ = [num2str(version_ptr.Value(1)), '.', num2str(version_ptr.Value(2))];
             end
 
-            obj.radar_ptr=calllib('radarsimc', 'Create_Radar', obj.tx_.tx_ptr, obj.rx_.rx_ptr);
-
             radar_loc_ptr=libpointer("singlePtr",kwargs.location);
             radar_spd_ptr=libpointer("singlePtr",kwargs.speed);
             radar_rot_ptr=libpointer("singlePtr",kwargs.rotation);
             radar_rrt_ptr=libpointer("singlePtr",kwargs.rotation_rate);
-            calllib('radarsimc', 'Set_Radar_Motion', radar_loc_ptr, radar_spd_ptr, radar_rot_ptr, radar_rrt_ptr, obj.radar_ptr);
+
+            obj.radar_ptr=calllib('radarsimc', 'Create_Radar', obj.tx_.tx_ptr, obj.rx_.rx_ptr, radar_loc_ptr, radar_spd_ptr, radar_rot_ptr, radar_rrt_ptr);
 
             obj.num_tx_ = calllib('radarsimc', 'Get_Num_Txchannel', obj.tx_.tx_ptr);
             obj.num_rx_ = calllib('radarsimc', 'Get_Num_Rxchannel', obj.rx_.rx_ptr);

diff --git a/src/+RadarSim/Simulator.m b/src/+RadarSim/Simulator.m
@@ -50,6 +50,8 @@ function Run(obj, radar, targets, kwargs)
                 targets
                 kwargs.density=1
                 kwargs.level='frame' % 'frame', 'pulse', 'sample'
+                kwargs.noise=true
+                kwargs.ray_filter=[0, 10]
                 kwargs.interf=[]
             end
 
@@ -62,6 +64,8 @@ function Run(obj, radar, targets, kwargs)
                 end
             end
 
+            ray_filter = libpointer("int32Ptr",kwargs.ray_filter);
+
             bb_real = libpointer("doublePtr",zeros(radar.samples_per_pulse_, radar.tx_.pulses_, radar.num_tx_*radar.num_rx_*radar.num_frame_));
             bb_imag = libpointer("doublePtr",zeros(radar.samples_per_pulse_, radar.tx_.pulses_, radar.num_tx_*radar.num_rx_*radar.num_frame_));
 
@@ -75,12 +79,14 @@ function Run(obj, radar, targets, kwargs)
                 error("ERROR! Unknow level.");
             end
 
-            calllib('radarsimc','Run_Simulator',radar.radar_ptr, obj.targets_ptr, level, kwargs.density, bb_real, bb_imag);
+            calllib('radarsimc','Run_Simulator',radar.radar_ptr, obj.targets_ptr, level, kwargs.density, ray_filter, bb_real, bb_imag);
             obj.baseband_=reshape(bb_real.Value+1i*bb_imag.Value, radar.samples_per_pulse_, radar.tx_.pulses_, radar.num_tx_*radar.num_rx_*radar.num_frame_);
 
             obj.timestamp_ = radar.timestamp_;
 
-            obj.noise_ = obj.generate_noise(radar);
+            if kwargs.noise
+                obj.noise_ = obj.generate_noise(radar);
+            end
 
             if ~isempty(kwargs.interf)
                 interf_real = libpointer("doublePtr",zeros(radar.samples_per_pulse_, radar.tx_.pulses_, radar.num_tx_*radar.num_rx_*radar.num_frame_));