Radar fine tuning (#285)

* Rename parameters to be the same as in RGL API * Fix separations * Update docs * Update prefab * Update RGL binary
tier4 · Apr 17, 2024 · f9a0f67 · f9a0f67
1 parent 64845e6
commit f9a0f67
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Showing 9 changed files with 55 additions and 43 deletions.
diff --git a/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/SmartmicroDRVEGRD169.prefab b/Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/SmartmicroDRVEGRD169.prefab
@@ -93,8 +93,6 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   automaticCaptureHz: 10
-  applyDistanceGaussianNoise: 1
-  applyAngularGaussianNoise: 1
   modelPreset: 1
   configuration:
     minAzimuthAngle: -65
@@ -103,14 +101,14 @@ MonoBehaviour:
     maxElevationAngle: 7.5
     frequency: 79
     powerTransmitted: 31
-    antennaGain: 27
-    receivedNoiseMean: 60
-    receivedNoiseStDev: 1
+    cumulativeDeviceGain: 60
+    receivedNoiseMean: 93
+    receivedNoiseStDev: 2
     scopeParameters:
-    - beginDistance: 0.6
+    - beginDistance: 0.1
       endDistance: 9.5
       distanceSeparationThreshold: 0.15
-      radialSpeedSeparationThreshold: 0.15
+      radialSpeedSeparationThreshold: 0.3
       azimuthSeparationThreshold: 8
     - beginDistance: 9.5
       endDistance: 19
@@ -122,12 +120,6 @@ MonoBehaviour:
       distanceSeparationThreshold: 0.6
       radialSpeedSeparationThreshold: 0.3
       azimuthSeparationThreshold: 8
-    noiseParams:
-      angularNoiseStDev: 2
-      angularNoiseMean: 0
-      distanceNoiseStDevBase: 0.2
-      distanceNoiseStDevRisePerMeter: 0
-      distanceNoiseMean: 0
 --- !u!1 &4328371732713975294
 GameObject:
   m_ObjectHideFlags: 0

diff --git a/Assets/RGLUnityPlugin/Plugins/Linux/x86_64/libRobotecGPULidar.so b/Assets/RGLUnityPlugin/Plugins/Linux/x86_64/libRobotecGPULidar.so
diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeAPI.cs
@@ -139,8 +139,8 @@ public static extern int rgl_node_points_udp_publish(
 
         [DllImport("RobotecGPULidar")]
         public static extern int rgl_node_points_radar_postprocess(ref IntPtr node, IntPtr radar_scopes, int radar_scopes_count,
-            float ray_azimuth_step, float ray_elevation_step, float frequency, float power_transmitted_dbm,
-            float antenna_gain_dbi, float received_noise_mean_dbm, float received_noise_st_dev_dbm);
+            float ray_azimuth_step, float ray_elevation_step, float frequency, float power_transmitted,
+            float cumulative_device_gain, float received_noise_mean, float received_noise_st_dev);
 
         [DllImport("RobotecGPULidar")]
         public static extern int rgl_node_points_simulate_snow(ref IntPtr node, float min_range, float max_range, float rain_rate,
@@ -527,7 +527,7 @@ public static void NodePointsFilterGround(ref IntPtr node, float groundAngleThre
 
         public static void NodePointsRadarPostprocess(ref IntPtr node, RadarScopeParameters[] radarParametersScopes,
             float rayAzimuthStep, float rayElevationStep, float frequency, float powerTransmitted,
-            float antennaGain, float receivedNoiseMean, float receivedNoiseStDev)
+            float cumulativeDeviceGain, float receivedNoiseMean, float receivedNoiseStDev)
         {
             // Make a copy to convert azimuthSeparationThreshold units (deg to rad)
             RadarScopeParameters[] radarParametersScopesCopy = new RadarScopeParameters[radarParametersScopes.Length];
@@ -543,7 +543,7 @@ public static void NodePointsRadarPostprocess(ref IntPtr node, RadarScopeParamet
                 {
                     CheckErr(rgl_node_points_radar_postprocess(ref node, (IntPtr) pRadarParametersScopes,
                         radarParametersScopesCopy.Length, rayAzimuthStep, rayElevationStep, frequency,
-                        powerTransmitted, antennaGain, receivedNoiseMean, receivedNoiseStDev));
+                        powerTransmitted, cumulativeDeviceGain, receivedNoiseMean, receivedNoiseStDev));
                 }
             }
         }

diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNodeSequence.cs
@@ -315,12 +315,12 @@ public RGLNodeSequence AddNodeGaussianNoiseDistance(string identifier, float mea
 
         public RGLNodeSequence AddNodePointsRadarPostprocess(string identifier, RadarScopeParameters[] radarParametersScopes,
             float rayAzimuthStep, float rayElevationStep, float frequency, float powerTransmitted,
-            float antennaGain, float receivedNoiseMean, float receivedNoiseStDev)
+            float cumulativeDeviceGain, float receivedNoiseMean, float receivedNoiseStDev)
         {
             CheckNodeNotExist(identifier);
             RGLNodeHandle handle = new RGLNodeHandle();
             RGLNativeAPI.NodePointsRadarPostprocess(ref handle.Node, radarParametersScopes, rayAzimuthStep, rayElevationStep, frequency,
-                powerTransmitted, antennaGain, receivedNoiseMean, receivedNoiseStDev);
+                powerTransmitted, cumulativeDeviceGain, receivedNoiseMean, receivedNoiseStDev);
             handle.Type = RGLNodeType.POINTS_RADAR_POSTPROCESS;
             handle.Identifier = identifier;
             AddNode(handle);
@@ -441,11 +441,11 @@ public RGLNodeSequence UpdateNodePointsCompactByField(string identifier, RGLFiel
 
         public RGLNodeSequence UpdateNodePointsRadarPostprocess(string identifier, RadarScopeParameters[] radarParametersScopes,
             float rayAzimuthStep, float rayElevationStep, float frequency, float powerTransmitted,
-            float antennaGain, float receivedNoiseMean, float receivedNoiseStDev)
+            float cumulativeDeviceGain, float receivedNoiseMean, float receivedNoiseStDev)
         {
             RGLNodeHandle handle = ValidateNode(identifier, RGLNodeType.POINTS_RADAR_POSTPROCESS);
             RGLNativeAPI.NodePointsRadarPostprocess(ref handle.Node, radarParametersScopes, rayAzimuthStep, rayElevationStep,
-                frequency, powerTransmitted, antennaGain, receivedNoiseMean, receivedNoiseStDev);
+                frequency, powerTransmitted, cumulativeDeviceGain, receivedNoiseMean, receivedNoiseStDev);
             return this;
         }
 

diff --git a/Assets/RGLUnityPlugin/Scripts/RadarModels/RadarConfiguration.cs b/Assets/RGLUnityPlugin/Scripts/RadarModels/RadarConfiguration.cs
@@ -54,14 +54,14 @@ public class RadarConfiguration
         [Tooltip("The power transmitted by the radar (in dBm)")]
         [Range(0.0f, 100.0f)] public float powerTransmitted = 31.0f;
 
-        [Tooltip("The gain of the radar's antenna (in dBi)")]
-        [Range(0.0f, 100.0f)] public float antennaGain = 27.0f;
+        [Tooltip("The gain of the radar's antennas and any other gains of the device (in dBi)")]
+        [Range(0.0f, 100.0f)] public float cumulativeDeviceGain = 60.0f;
 
-        [Tooltip("The mean of the received noise (in dBm)")]
-        public float receivedNoiseMean = 60.0f;
+        [Tooltip("The mean of the received noise (in dB)")]
+        public float receivedNoiseMean = 93.0f;
 
-        [Tooltip("The standard deviation of the received noise (in dBm)")]
-        public float receivedNoiseStDev = 1.0f;
+        [Tooltip("The standard deviation of the received noise (in dB)")]
+        public float receivedNoiseStDev = 2.0f;
 
         [Tooltip("Array of radar scope parameters")]
         public RadarScopeParameters[] scopeParameters;

diff --git a/Assets/RGLUnityPlugin/Scripts/RadarModels/RadarConfigurationLibrary.cs b/Assets/RGLUnityPlugin/Scripts/RadarModels/RadarConfigurationLibrary.cs
@@ -28,11 +28,16 @@ public static class RadarConfigurationLibrary
                     maxAzimuthAngle = 65.0f,
                     minElevationAngle = -7.5f,
                     maxElevationAngle = 7.5f,
+                    frequency = 79.0f,
+                    powerTransmitted = 31.0f,
+                    cumulativeDeviceGain = 60.0f,
+                    receivedNoiseMean = 93.0f,
+                    receivedNoiseStDev = 2.0f,
                     scopeParameters = new[]
                     {
                         new RadarScopeParameters
                         {
-                            beginDistance = 1.3f,
+                            beginDistance = 0.2f,
                             endDistance = 19.0f,
                             distanceSeparationThreshold = 0.3f,
                             radialSpeedSeparationThreshold = 0.3f,
@@ -64,14 +69,19 @@ public static class RadarConfigurationLibrary
                     maxAzimuthAngle = 65.0f,
                     minElevationAngle = -7.5f,
                     maxElevationAngle = 7.5f,
+                    frequency = 79.0f,
+                    powerTransmitted = 31.0f,
+                    cumulativeDeviceGain = 60.0f,
+                    receivedNoiseMean = 93.0f,
+                    receivedNoiseStDev = 2.0f,
                     scopeParameters = new[]
                     {
                         new RadarScopeParameters
                         {
-                            beginDistance = 0.6f,
+                            beginDistance = 0.1f,
                             endDistance = 9.5f,
                             distanceSeparationThreshold = 0.15f,
-                            radialSpeedSeparationThreshold = 0.15f,
+                            radialSpeedSeparationThreshold = 0.3f,
                             azimuthSeparationThreshold = 8.0f
                         },
                         new RadarScopeParameters
@@ -100,14 +110,19 @@ public static class RadarConfigurationLibrary
                     maxAzimuthAngle = 65.0f,
                     minElevationAngle = -7.5f,
                     maxElevationAngle = 7.5f,
+                    frequency = 79.0f,
+                    powerTransmitted = 31.0f,
+                    cumulativeDeviceGain = 60.0f,
+                    receivedNoiseMean = 93.0f,
+                    receivedNoiseStDev = 2.0f,
                     scopeParameters = new[]
                     {
                         new RadarScopeParameters
                         {
-                            beginDistance = 0.2f,
+                            beginDistance = 0.1f,
                             endDistance = 9.5f,
                             distanceSeparationThreshold = 0.15f,
-                            radialSpeedSeparationThreshold = 0.15f,
+                            radialSpeedSeparationThreshold = 0.3f,
                             azimuthSeparationThreshold = 8.0f
                         },
                         new RadarScopeParameters
@@ -128,14 +143,19 @@ public static class RadarConfigurationLibrary
                     maxAzimuthAngle = 70.0f,
                     minElevationAngle = -14.0f,
                     maxElevationAngle = 14.0f,
+                    frequency = 79.0f,
+                    powerTransmitted = 31.0f,
+                    cumulativeDeviceGain = 60.0f,
+                    receivedNoiseMean = 93.0f,
+                    receivedNoiseStDev = 2.0f,
                     scopeParameters = new[]
                     {
                         new RadarScopeParameters
                         {
                             beginDistance = 0.1f,
                             endDistance = 9.5f,
                             distanceSeparationThreshold = 0.15f,
-                            radialSpeedSeparationThreshold = 0.15f,
+                            radialSpeedSeparationThreshold = 0.3f,
                             azimuthSeparationThreshold = 8.0f
                         },
                     },

diff --git a/Assets/RGLUnityPlugin/Scripts/RadarSensor.cs b/Assets/RGLUnityPlugin/Scripts/RadarSensor.cs
@@ -139,8 +139,8 @@ private void ApplyConfiguration(RadarConfiguration newConfig)
                 .UpdateNodeRaysSetRange(RadarRangeNodeId, newConfig.GetRayRanges())
                 .UpdateNodePointsRadarPostprocess(RadarPostprocessNodeId, newConfig.scopeParameters,
                     newConfig.azimuthResolution * Mathf.Deg2Rad, newConfig.elevationResolution * Mathf.Deg2Rad,
-                    radarFrequencyHz, newConfig.powerTransmitted, newConfig.antennaGain, newConfig.receivedNoiseMean,
-                    newConfig.receivedNoiseStDev)
+                    radarFrequencyHz, newConfig.powerTransmitted, newConfig.cumulativeDeviceGain,
+                    newConfig.receivedNoiseMean, newConfig.receivedNoiseStDev)
                 .UpdateNodeGaussianNoiseAngularRay(NoiseRaysNodeId,
                     newConfig.noiseParams.angularNoiseMean * Mathf.Deg2Rad,
                     newConfig.noiseParams.angularNoiseStDev * Mathf.Deg2Rad)

diff --git a/docs/Components/Sensors/RadarSensor/index.md b/docs/Components/Sensors/RadarSensor/index.md
@@ -62,15 +62,15 @@ The pipeline consists of:
     - `Max Elevation Angle` - maximum elevation angle (in degrees)
     - `Frequency` - frequency of the wave propagation by the radar (in GHz)
     - `Power Transmitted` - power transmitted by the radar (in dBm)
-    - `Antenna Gain` - gain of the radar's antenna (in dBi)
-    - `Received Noise Mean` - mean of the received noise (in dBm)
-    - `Received Noise St Dev` - standard deviation of the received noise (in dBm)
+    - `Cumulative Device Gain` - gain of the radar's antennas and any other gains of the device (in dBi)
+    - `Received Noise Mean` - mean of the received noise (in dB)
+    - `Received Noise St Dev` - standard deviation of the received noise (in dB)
     - *Scope Parameters* - radar ability to separate (distinguish) different detections varies with the distance (e.g. by employing multiple frequency bands). Scope parameters allow to configure separation thresholds for different distance ranges (scopes):
-        - `Begin Distance` - begin of the distance interval where the following parameters are used
-        - `End Distance` - end of the distance interval where the following parameters are used
-        - `Distance Separation Threshold` - minimum distance between two points to be considered as separate detections
-        - `Radial Speed Seperation Threshold` - minimum radial speed difference between two points to be considered as separate detections
-        - `Azimuth Separation Threshold` - minimum azimuth difference between two points to be considered as separate detections
+        - `Begin Distance` - begin of the distance interval where the following parameters are used (in meters)
+        - `End Distance` - end of the distance interval where the following parameters are used (in meters)
+        - `Distance Separation Threshold` - minimum distance between two points to be considered as separate detections (in meters)
+        - `Radial Speed Seperation Threshold` - minimum radial speed difference between two points to be considered as separate detections (in meters per seconds)
+        - `Azimuth Separation Threshold` - minimum azimuth difference between two points to be considered as separate detections (in degrees)
 
 #### Output Data
 

diff --git a/docs/Components/Sensors/RadarSensor/radar_component.png b/docs/Components/Sensors/RadarSensor/radar_component.png