process opimage2d → tableimport fullseye as fs; fs.ledger.range_doppler_peaks(rdmap, range_bin_m=1.0, velocity_bin_ms=1.0, n_peaks=1, min_fraction=0.1, doppler_shifted=True) (実装を直接呼ぶなら import rangedoppler; rangedoppler.range_doppler_peaks(rdmap, range_bin_m=1.0, velocity_bin_ms=1.0, n_peaks=1, min_fraction=0.1, doppler_shifted=True)、台帳から引くなら opsrangedoppler.get("range_doppler_peaks"))Detections from a range-Doppler map: bin indices back to metres and m/s.
Finds strict local maxima of the 2-D magnitude map — greater than all eight neighbours, cyclically along the Doppler axis (velocity really is periodic in the FFT: the fastest receding bin is adjacent to the fastest approaching one) and openly along the range axis (a cell in the first or last range bin competes only against the neighbours that exist, so a target in the last bin is a detection, not a discard) — keeps those at least min_fraction of the global maximum, and returns the strongest n_peaks.
Range bin 0 is reported like any other. In a real receiver it is the transmitter-leakage / DC bin rather than a target, but suppressing it here would be a silent policy applied to somebody else’s data; threshold it yourself if you want it gone.
Index -> physical value, closed form and the exact inverse of
:func:fmcw_beat_simulate:
range_m = j * range_bin_m, with range_bin_m = c*f_s/(2*S*N_s)
from :func:fmcw_design;velocity_ms = (i - n_doppler//2) * velocity_bin_ms when
doppler_shifted (the layout :func:range_doppler_map produces), or
i wrapped into [-N_c/2, N_c/2) when the map is unshifted.The bin widths are required parameters with placeholder defaults of 1.0, which means the default output is in bins, not metres. That is deliberate: inventing a default waveform here would let a caller read metres off a map that was never that waveform’s.
Returns a dict with peaks (a list of per-detection dicts holding
range_m, velocity_ms, magnitude, range_bin, doppler_bin),
n_found, max_magnitude and noise_floor (the median of the map).
Raises ValueError: a non-2-D, complex, negative, or non-finite map; a
map whose maximum is 0 (an all-zero map has no cell to detect and returning
cell (0,0) — which is what argmax does — would be a fabricated
detection); a non-positive bin width; n_peaks < 1; a min_fraction
outside [0, 1].
py -3.11 examples/fmcw_range_doppler.pytable を入力に取れる)—
process)fmcw_window_apply · range_doppler_map · 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.