process op• データ種: beatcube → image2d
• 呼び出し: import 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 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.
• サンプルデータ カタログ(DL URL / ライセンス) — 2-D は skimage.data(BSD/public)+ 合成、3-D は実データ源(Stanford/PDS 等)の DL URL。
• 演算子の来歴・参考文献 — この op 族の元になった研究/手法の出典。
• アルゴリズムの正典(著者・年)と用途は上記ファミリ使い方ガイドに記載。
• fmcw_range_doppler — py -3.11 examples/fmcw_range_doppler.py
image2d 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.