process opbeatcube → image2dimport fullseye as fs; fs.ledger.range_doppler_map(cube, combine='incoherent', antenna=None, normalize=False) (実装を直接呼ぶなら import rangedoppler; rangedoppler.range_doppler_map(cube, combine='incoherent', antenna=None, normalize=False)、台帳から引くなら opsrangedoppler.get("range_doppler_map"))The 2-D FFT of a beat cube -> a (n_doppler, n_range) magnitude map.
Fast time transforms to range (last axis, not shifted: bin j is
j * c*f_s/(2*S*N_s) metres, and a physical range is always positive so
the whole [0, f_s) band is used). Slow time transforms to velocity
(middle axis, fftshifted so the map is centred on zero velocity: bin
i is (i - N_c//2) * lambda/(2*N_c*T_c) metres per second, positive =
receding).
The antenna axis is collapsed by combine: "incoherent" (default) is the
mean of the magnitudes, which is angle independent and therefore the
right default for detection; "coherent" is the magnitude of the mean,
i.e. a beam pointed at boresight, which attenuates an off-boresight target on
purpose. antenna=k uses element k alone. For a single-element cube
all three agree exactly.
normalize=True divides by N_c * N_s, so a bin-centred target of
amplitude a peaks at exactly a (measured: 1.0 for a unit target,
absolute error 0.0). The default False keeps the raw FFT magnitude.
No window is applied — compose :func:fmcw_window_apply first if you want
one. The output is a plain 2-D float64 array, so every 2-D operator in
Fullseye (threshold, morphology, labelling, blob measurement — the pieces a
CFAR detector is made of) applies to it directly.
Raises ValueError: a real-valued cube (it would put a mirror ghost of
every target at a fabricated range), fewer than 2 chirps or 2 samples, an
out-of-range antenna index, an unknown combine, a cube over the element
cap, an FFT that overflows to NaN, or NaN/Inf on the way in.
py -3.11 examples/fmcw_range_doppler.pyimage2d を入力に取れる)process)fmcw_window_apply · range_doppler_peaks · fmcw_range_profile
Provenance: rangedoppler.py — RANGEDOPPLER operator registry. この per-op ノートは tools/opdocs.py md が自動生成(手編集しない)。
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.