beamform op• Data kinds: beatcube → table
• Call: import fullseye as fs; fs.ledger.beamform_doa(cube, wavelength_m=0.0038934, element_spacing_m=None, angles_deg=None, range_bin=None, doppler_bin=None, n_targets=1, min_fraction=0.1, range_bin_m=None, velocity_bin_ms=None) (to call the implementation directly, import rangedoppler; rangedoppler.beamform_doa(cube, wavelength_m=0.0038934, element_spacing_m=None, angles_deg=None, range_bin=None, doppler_bin=None, n_targets=1, min_fraction=0.1, range_bin_m=None, velocity_bin_ms=None); from the registry, opsrangedoppler.get("beamform_doa"))
Direction(s) of arrival for one range-Doppler cell, in degrees.
beamform_delay_sum followed by strict local-maximum picking on the angle spectrum: the peaks are sorted by power, filtered at *min_fraction* of the strongest, and the top *n_targets* returned. Two targets closer than the array's beamwidth (~0.886*lambda/(N_a*d), reported here as angular_resolution_deg) merge into one lobe — delay-and-sum cannot separate them, and this reports one peak rather than pretending otherwise.
When *range_bin_m* / *velocity_bin_ms* are supplied (from fmcw_design) the cell's range and velocity are converted too, giving the complete (range, velocity, angle) detection this family exists to produce; without them those two fields are None rather than a number in unknown units.
Returns a dict: angles_deg and powers (lists, strongest first), n_found, grid_deg and spectrum (the full sweep), range_bin / doppler_bin (the cell used), range_m / velocity_ms, angular_resolution_deg and max_unambiguous_angle_deg.
Raises ValueError: everything beamform_delay_sum raises, plus *n_targets* < 1 or a *min_fraction* outside [0, 1].
• fmcw_range_doppler family guide
• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).
• Operator provenance and references — the sources of the research/methods this op family came from.
• The canonical algorithm (author, year) and its uses are named in the family usage guide above.
• fmcw_range_doppler — py -3.11 examples/fmcw_range_doppler.py
• poc_multibeam_bathymetry — py -3.11 examples/poc_multibeam_bathymetry.py
table as input)—
beamform)*Provenance: rangedoppler.py — RANGEDOPPLER operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*
© 2026 Kazufumi Furuse — Fullseye operator documentation. Licensed under Apache-2.0.