beamform op• Data kinds: beatcube → table
• Call: 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) (or opsrangedoppler.get("beamform_doa"))
Direction(s) of arrival for one range-Doppler cell, in degrees.
:func: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
:func: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 :func: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
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.