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DCA1000.organize: fixed formatting for xWR14xx and other sensors #40

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DCA1000.organize: fixed formatting for xWR14xx and other sensors #40

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56 changes: 51 additions & 5 deletions mmwave/dataloader/adc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -259,22 +259,68 @@ def _stop_stream(self):
return self._send_command(CMD.RECORD_STOP_CMD_CODE)

@staticmethod
def organize(raw_frame, num_chirps, num_rx, num_samples):
def organize(raw_frame, num_chirps, num_rx, num_samples, sensor_type='xWR14xx', real=False):
"""Reorganizes raw ADC data into a full frame

Args:
raw_frame (ndarray): Data to format
num_chirps: Number of chirps included in the frame
num_rx: Number of receivers used in the frame
num_samples: Number of ADC samples included in each chirp
sensor_type: Type of sensor used for measurement, default is xWR14xx

Returns:
ndarray: Reformatted frame of raw data of shape (num_chirps, num_rx, num_samples)

"""
ret = np.zeros(len(raw_frame) // 2, dtype=complex)
ret = None

sensor_type = self.generalizedSensorType(sensor_type)
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@obabarin obabarin Aug 13, 2021

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i believe this is a wrong insertion

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@kcelebi kcelebi Sep 6, 2021

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What about it do you think is incorrect? I set ret to None b/c for real or complex data the size of ret should be different, they are then respectively defined in a later section. The generalizedSensorType is just one way of categorizing the different ways to partition the data.


if not real:
ret = np.zeros(len(raw_frame) // 2, dtype=complex)

if sensor_type == 'xWR14xx':
for rx in range(num_rx):
ret[rx*num_samples*num_chirps:num_samples*num_chirps*(rx+1)] = raw_frame[rx::num_rx][0::2] + 1j * raw_frame[rx::num_rx][1::2]

elif sensor_type == 'xWR16xx' or sensor_type == 'IWR6843':
#can reshape after calc
ret = raw_frame[0::2][0::2] + 1j*raw_frame[0::2][1::2]
#
else:
# Separate IQ data
# **Original code, untouched**
# **Not sure which sensor type this fits**
ret[0::2] = raw_frame[0::4] + 1j * raw_frame[2::4]
ret[1::2] = raw_frame[1::4] + 1j * raw_frame[3::4]
else:
ret = np.zeros(len(raw_frame), dtype=np.int16)
if sensor_type == 'xWR14xx':
for rx in range(num_rx):
ret[rx*num_samples*num_chirps:num_samples*num_chirps*(rx+1)] = raw_frame[rx::num_rx]
elif sensor_type == 'xWR16xx' or sensor_type == 'IWR6843':
#already in format of shape (numchirp, numrx, numsample)
ret = raw_frame

# Separate IQ data
ret[0::2] = raw_frame[0::4] + 1j * raw_frame[2::4]
ret[1::2] = raw_frame[1::4] + 1j * raw_frame[3::4]
return ret.reshape((num_chirps, num_rx, num_samples))


'''
Given sensor type returns generalized name

Args:
sensor_type: The name of the TI sensor used

Returns:
String: The generalized form of the name of the TI sensor used. ex: IWR1438 --> xWR14xx
'''
def generalizedSensorType(self, sensor_type):
general_classes = ['xWR14xx', 'xWR16xx', 'IWR6843']

for c in general_classes:
if c.replace('x','') in sensor_type:
return c
else:
print('Sensor Type ('+ sensor_type +') not supported!')