TDA3XEVM: CFAR Processing 2 out of 4 RX Data (Continue)

Khai Trinh

Part Number: TDA3XEVM
Other Parts Discussed in Thread: AWR1243

Hi Piyali,

Just now were we able to test this code on CFAR processing of 2 out of 4 RX channels and its not working per your suggestion of code change below.

for (i = 0U; i < metaDataBuffAddr->bufDesc.numChunks; i++)
{
pObj->pProcessInArgs->inAlgArgs.inArgs.bufDescription.numHorzPoints[i] = metaDataBuffAddr->bufDesc.numHorzPoints[i];
pObj->pProcessInArgs->inAlgArgs.inArgs.bufDescription.offsetBwAntennas[i] = metaDataBuffAddr->bufDesc.offsetBwAntennas[i];
pObj->pProcessInArgs->inAlgArgs.inArgs.bufDescription.pitch[i] = metaDataBuffAddr->bufDesc.pitch[i];
}
// POC: Make changes to fake out PkDetect alg to perform CFAR on only
// the two RX main rather than on 4 RX by default
#if defined(AWR1243_METAWAVE_LRR_CONFIG)
pObj->pProcessInArgs->inAlgArgs.inArgs.bufDescription.numAntennas = 2;
UInt32 antOffset = metaDataBuffAddr->bufDesc.offsetBwAntennas[0];
pObj->pProcessInArgs->inAlgArgs.inBufs.bufDesc[PEAK_DETECTION_TI_BUFDESC_IN_ANTENNA_DATA_BUF]->bufPlanes[0].buf = inBufAddr + antOffset;
#endif

The CFAR result capture at network output attached. There was only a single angle reflector place in the field of view.

targets-nci-2rx.txt - this file was captured when set numAntenna = 2 to integrate over 2 RX channels out of 4 total RX

targets-nci-4rx.txt - this file was captured when the above conditional check set to #if 0 which basically perform normal CFAR over 4 RX channels

Thanks,

--Khai

Fullscreen targets-nci-2rx.txt Download

RadarMode - 1, NumOfDets - 532
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3032
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 3729
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 3845
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3381
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 2717
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 3437
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 3544
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3083
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 1814
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 2493
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 2637
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 2148
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3391
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3733
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4192
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3396
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3701
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4173
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3381
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3697
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4169
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4173
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3718
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4183
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3401
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3722
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4187
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3350
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3713
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4173
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 3386
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3709
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 4183
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4192
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4173
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4169
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4173
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4183
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4187
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4173
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 4183
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4192
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4173
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4169
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4173
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4183
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4187
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4173
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 4183
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4192
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4173
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4169
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4072
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4169
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4173
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4075
Frame 1: VelIdx:  44, Shifted VelIdx: 108, Velocity - 25.52 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4173
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4183
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4087
Frame 1: VelIdx:  48, Shifted VelIdx: 112, Velocity - 27.84 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4183
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4187
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4087
Frame 1: VelIdx:  52, Shifted VelIdx: 116, Velocity - 30.16 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4187
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4173
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4069
Frame 1: VelIdx:  56, Shifted VelIdx: 120, Velocity - 32.48 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4173
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 4183
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 4087
Frame 1: VelIdx:  60, Shifted VelIdx: 124, Velocity - 34.80 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 4183
Frame 1: VelIdx:  95, Shifted VelIdx:  31, Velocity - -19.14 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 3437
Frame 1: VelIdx:  95, Shifted VelIdx:  31, Velocity - -19.14 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 3547
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4757
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5131
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4769
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5131
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5592
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4761
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5120
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4769
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5120
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4765
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5131
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5589
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4772
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5131
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5592
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4753
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5120
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 4772
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 5125
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  26, Range -  33.54 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  27, Range -  34.83 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  42, Range -  54.18 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  43, Range -  55.47 m, Energy - 5589
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5592
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5589
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5592
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  58, Range -  74.82 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  59, Range -  76.11 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  74, Range -  95.46 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  75, Range -  96.75 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  90, Range - 116.10 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx:  91, Range - 117.39 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 106, Range - 136.74 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 107, Range - 138.03 m, Energy - 5589
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5592
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5589
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5592
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 122, Range - 157.38 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 123, Range - 158.67 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 138, Range - 178.02 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 139, Range - 179.31 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 154, Range - 198.66 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 155, Range - 199.95 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 170, Range - 219.30 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 171, Range - 220.59 m, Energy - 5589
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5592
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx:  96, Shifted VelIdx:  32, Velocity - -18.56 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5592
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx: 100, Shifted VelIdx:  36, Velocity - -16.24 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5592
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5589
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx: 104, Shifted VelIdx:  40, Velocity - -13.92 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5589
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx: 108, Shifted VelIdx:  44, Velocity - -11.60 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5589
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx: 112, Shifted VelIdx:  48, Velocity - -9.28 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5589
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5592
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5480
Frame 1: VelIdx: 116, Shifted VelIdx:  52, Velocity - -6.96 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5592
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5589
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5472
Frame 1: VelIdx: 120, Shifted VelIdx:  56, Velocity - -4.64 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 186, Range - 239.94 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 187, Range - 241.23 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 202, Range - 260.58 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 203, Range - 261.87 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 218, Range - 281.22 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 219, Range - 282.51 m, Energy - 5589
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 234, Range - 301.86 m, Energy - 5476
Frame 1: VelIdx: 124, Shifted VelIdx:  60, Velocity - -2.32 m/s, RangeIdx: 235, Range - 303.15 m, Energy - 5589
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 250, Range - 322.50 m, Energy - 4090
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx: 251, Range - 323.79 m, Energy - 4192
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  25, Range -  32.25 m, Energy - 3391
Frame 1: VelIdx:  32, Shifted VelIdx:  96, Velocity - 18.56 m/s, RangeIdx:  28, Range -  36.12 m, Energy - 3733
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 250, Range - 322.50 m, Energy - 4081
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx: 251, Range - 323.79 m, Energy - 4173
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  25, Range -  32.25 m, Energy - 3396
Frame 1: VelIdx:  36, Shifted VelIdx: 100, Velocity - 20.88 m/s, RangeIdx:  28, Range -  36.12 m, Energy - 3701
Frame 1: VelIdx:  40, Shifted VelIdx: 104, Velocity - 23.20 m/s, RangeIdx: 250, Range - 322.50 m, Energy - 4072

Fullscreen targets-nci-4rx.txt Download

RadarMode - 1, NumOfDets - 19
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 2980
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 3680
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 3793
Frame 1: VelIdx:   0, Shifted VelIdx:  64, Velocity -  0.00 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3333
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 2681
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 3391
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 3503
Frame 1: VelIdx:   1, Shifted VelIdx:  65, Velocity -  0.58 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3048
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 2453
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 2576
Frame 1: VelIdx:   2, Shifted VelIdx:  66, Velocity -  1.16 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 2135
Frame 1: VelIdx: 126, Shifted VelIdx:  62, Velocity - -1.16 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 1845
Frame 1: VelIdx: 126, Shifted VelIdx:  62, Velocity - -1.16 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 2529
Frame 1: VelIdx: 126, Shifted VelIdx:  62, Velocity - -1.16 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 2647
Frame 1: VelIdx: 126, Shifted VelIdx:  62, Velocity - -1.16 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 2173
Frame 1: VelIdx: 127, Shifted VelIdx:  63, Velocity - -0.58 m/s, RangeIdx:   9, Range -  11.61 m, Energy - 2694
Frame 1: VelIdx: 127, Shifted VelIdx:  63, Velocity - -0.58 m/s, RangeIdx:  10, Range -  12.90 m, Energy - 3410
Frame 1: VelIdx: 127, Shifted VelIdx:  63, Velocity - -0.58 m/s, RangeIdx:  11, Range -  14.19 m, Energy - 3521
Frame 1: VelIdx: 127, Shifted VelIdx:  63, Velocity - -0.58 m/s, RangeIdx:  12, Range -  15.48 m, Energy - 3057

over 5 years ago

0 Anshu Jain over 5 years ago

TI__Guru 56820 points

Hi Khai,

Piyali is on leave. Can you give a bit of background of the issue you are trying to fix here?

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

Thanks for taking on my call.

So we have a system that sets up 1 TX and 4 RX. However, we only want to perform CFAR detection on the the middle 2 RX (ie: RX1 and RX2). So after 2D FFT is performed, we have 4 RDMs in memory. A normal processing flow would perform PkDetect on the 4 RDM data. However, we would like to only perform CFAR on RX1 and RX2. Piyali suggested the code change above in the PkDetect.c to basically fool PkDetect to think there are only two RX data in the processing flow. Technically, her work around suggestion looked valid, but the detection list didn't look correct at all (seemed to produced garbage data in the list). Please look at previous attached files for further analysis.

Thanks,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Hi Anshu,

Do you have any updates on this issue? Can you suggest how to properly setup PkDetect to perform 2 middle RX RDM data when the total number of RX = 4?

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

I was going through the interface of peak detect and I found the following parameters in PEAK_DETECTION_TI_InArgs which we have not configured numTx, numRx, offsetBwTx, offsetBwRx.

Also I would recommend you to first try this in peak_detection standalone test bench ( this is part of EVE release and is located at apps\peak_detection\test folder) to verify that the parameters are given as expected and you are getting output as expected. Once this is done it would be easier to make these changes in the final SDK code.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

There are lots of assumptions in your response. Pardon me that I am completely lost at what you were referring to. Not really sure what you mean the interface not being configured with numTx, etc,,,

Also, the test bench you recommend me looking into is no where to be found in apps\peak_detection\test folder.

I understand you are dealing with this daily and might have assume everyone are at your level of knowledge. I am NOT. If you would like me to try something, I am willing to but please do provide step by step instructions.

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

peak_detection applet has an interface which expects certain parameters to be populated before using and I see that in the code which was referred above doesn't populate those parameters and that's why I have asked you the same.

The apps\peak_detection\test\src\peak_detection_tb.c contains the test bench to test peak detection applet against a reference C implementation. My suggestion is to first use this standalone test bench with the input and arguments from the SDK. This will help in finding the issue without having dependency on other system related code.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

Thanks for the clarification. I'll take a look and try it out.

What you see in the code brought up to an interesting question. How then does PkDetect alg work perfectly when I removed the code that forced to perform CFAR over 2 RX (ie: 4RX). Shouldn't it not working at all if there are missing input parameters ?

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

Can you confirm if Tx decoding whether tx decoding is enabled or disabled? I will have to check but if its disabled then mostly these parameters are not used. This could explain what you pointed out.

Regards,
Anshu

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Hi Anshu,

I went through the radarPkDetect.c code and in the AlgorithmFxn_RadarPkDetectProcess(), the PEAK_DETECTION_TI_InArgs parameters you mentioned were initialized. However, if we would like to perform over only RX1 and Rx2 out of the total 4RX, not sure if they are initialized correctly. This is where I need your input. Piyali suggested changes that I have highlighted in RED above. Based on what you said, it seems that there are more params need to be tweaked to get it working. I copy and paste the relevant code in AlgorithmFxn_RadarPkDetectProcess() below:

pObj->pProcessInArgs->inAlgArgs.inArgs.enableTxDecoding = algLinkCtrlParams->enableTxDecoding;
pObj->pProcessInArgs->inAlgArgs.inArgs.numTx = algLinkCtrlParams->numTx[currProfile];
pObj->pProcessInArgs->inAlgArgs.inArgs.numRx = algLinkCtrlParams->numRx[currProfile];
pObj->pProcessInArgs->inAlgArgs.inArgs.offsetBwTx = metaDataBuffAddr->bufDesc.offsetBwAntennas[0] * algLinkCtrlParams->numRx[currProfile];
pObj->pProcessInArgs->inAlgArgs.inArgs.offsetBwRx = metaDataBuffAddr->bufDesc.offsetBwAntennas[0];
pObj->pProcessInArgs->inAlgArgs.inArgs.txDecodingCoefficients = (Int16*)algLinkCtrlParams->txDecodingCoefficients;
pObj->pProcessInArgs->inAlgArgs.inArgs.rangeDim = algLinkCtrlParams->rangeDim[currProfile];
pObj->pProcessInArgs->inAlgArgs.inArgs.dopplerDim = algLinkCtrlParams->dopplerDim[currProfile];

Please suggest changes if you think there is any.

Thanks,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

TX decoding is disabled.

Thanks,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Hi Anshu,

Do you have any updates?

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,
Were you able to reproduce this in standalone testbench(apps\peak_detection\test\src\peak_detection_tb.c)? As mentioned earlier it would be easier to debug if the parameters are correct in standalone testbench then debugging along with full system.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

Wouldn't it be easier you do this test since you are the alg developer? If I do it and either found there is a problem or no problem, how does that help us solve the problem I am seeing in the framework code? I can do it if I can find some time. But to me, it will lengthen the debug process as opposed to you doing it.

Thanks,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Hi Anshu,

Questions about the PkDetect input params below. I am using the peak_detection_cfg_5.cfg as sample params.

My questions parameters are highlighted in RED given our system params below:

nTx = 1;

nRx = 4 (RX0, RX1, RX2, RX3)

Range DIM: 256

Doppler DIM: 128

But we want to PkDetect to perform detection on only RX1 and RX2. Besides the buffer offset to RX1 so the Alg will process RX1+RX2 below:

UInt32 antOffset = metaDataBuffAddr->bufDesc.offsetBwAntennas[0];
pObj->pProcessInArgs->inAlgArgs.inBufs.bufDesc[
PEAK_DETECTION_TI_BUFDESC_IN_ANTENNA_DATA_BUF]->bufPlanes[0].buf = inBufAddr + antOffset;

The config params are set as such:

testCaseName = "Peak Detection Applet"
performanceTestcase = 0
desc = "Peak Detection Testcase 512x128: enableTxDecoding = 0"
requirementId = "EVESW-248:EVESW-250:EVESW-252:EVESW-355:EVESW-315"
antennaData = "../testvecs/input/4Rx_1Tx_512x128_1Obj_35_vel_minus1p8mps_doppler.bin"
energyList = ""
rangeDopplerList = ""
rangeDim = 256
dopplerDim = 128
numTx = 1
numRx = 2
numHorzPtPerAntenna = 16
offsetBwTx = 128
offsetBwRx = 64
noiseLen = 8
gaurdLen = 4
const1 = 500
const2 = 2
# detectionMethod = 0 CFAR CA, 1 = ENERGY_OUT
detectionMethod = 0
enableTxDecoding = 0
txDecodingCoeff = 16383 0 16383 16383 -16383 0 0 -16383 16383
enableAntennaDataOut = 0

Please advice if these settings are correct.

Thank you,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

If you will look at the test bench code, following is how these variables are used to set the arguments :

inArgs.numTx = params->numTx;
inArgs.numRx = params->numRx;
inArgs.enableTxDecoding = params->enableTxDecoding;
inArgs.rangeDim = params->rangeDim;
inArgs.dopplerDim = params->dopplerDim;
inArgs.offsetBwTx = params->offsetBwTx;
inArgs.offsetBwRx = params->offsetBwRx;
inArgs.txDecodingCoefficients = txDecodingCoefficients;
inArgs.algoParams.cfarCaDb.noiseLen = params->noiseLen;
inArgs.algoParams.cfarCaDb.gaurdLen = params->gaurdLen;
inArgs.algoParams.cfarCaDb.constant1 = params->const1;
inArgs.algoParams.cfarCaDb.constant2 = params->const2;

inArgs.bufDescription.numAntennas = params->numTx * params->numRx;
inArgs.bufDescription.numChunks = 1;
inArgs.bufDescription.numHorzPoints[0] = params->numHorzPtPerAntenna;
inArgs.bufDescription.numVertPoints = params->rangeDim * params->dopplerDim / params->numHorzPtPerAntenna;
inArgs.bufDescription.offsetBwAntennas[0] = params->numHorzPtPerAntenna * sizeof(int16_t) * 2;
inArgs.bufDescription.pitch[0] = params->numTx * params->numRx * params->numHorzPtPerAntenna * sizeof(int16_t) * 2;

Here the highlighted code will require an update as in your case the pitch will be based on the actual number of antennas. Rest all parameters looks ok .

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

HI Anshu,

Thanks for the suggestion for code mod. That's not working, however. I had a discussion with Piyali on this issue in this thread here https://e2e.ti.com/support/processors/f/791/t/803331. She indicated that the pitch should be kept unchanged (ie: span across 4RX numHorzPtPerAntenna in memory). Below is the result of your suggested code change compared to original code with peak detection over all 4RX.

2 RX Peak Detection Result: The range indices are wrong in the lines in RED

Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3291
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 3038
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2201
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3466
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 3247
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2408
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3009
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 2769
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 1905
Frame 1: VelIdx: 3, Shifted VelIdx: 67, Velocity - 1.74 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3163
Frame 1: VelIdx: 3, Shifted VelIdx: 67, Velocity - 1.74 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 2937
Frame 1: VelIdx: 3, Shifted VelIdx: 67, Velocity - 1.74 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2116
Frame 1: VelIdx: 4, Shifted VelIdx: 68, Velocity - 2.32 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 2106
Frame 1: VelIdx: 4, Shifted VelIdx: 68, Velocity - 2.32 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 1879
Frame 1: VelIdx: 5, Shifted VelIdx: 69, Velocity - 2.90 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 2267
Frame 1: VelIdx: 5, Shifted VelIdx: 69, Velocity - 2.90 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 2039
Frame 1: VelIdx: 124, Shifted VelIdx: 60, Velocity - -2.32 m/s, RangeIdx: 16, Range - 20.64 m, Energy - 2086
Frame 1: VelIdx: 124, Shifted VelIdx: 60, Velocity - -2.32 m/s, RangeIdx: 17, Range - 21.93 m, Energy - 1840
Frame 1: VelIdx: 125, Shifted VelIdx: 61, Velocity - -1.74 m/s, RangeIdx: 16, Range - 20.64 m, Energy - 2685
Frame 1: VelIdx: 125, Shifted VelIdx: 61, Velocity - -1.74 m/s, RangeIdx: 17, Range - 21.93 m, Energy - 2472
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 16, Range - 20.64 m, Energy - 3005
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 17, Range - 21.93 m, Energy - 2760
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 18, Range - 23.22 m, Energy - 1896
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 16, Range - 20.64 m, Energy - 3149
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 17, Range - 21.93 m, Energy - 2920
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 18, Range - 23.22 m, Energy - 2096

2 RX Peak Detection Result:

Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3661
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 3428
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2587
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 254, Range - 327.66 m, Energy - 2598
Frame 1: VelIdx: 0, Shifted VelIdx: 64, Velocity - 0.00 m/s, RangeIdx: 255, Range - 328.95 m, Energy - 3424
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3381
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 3149
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2320
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 254, Range - 327.66 m, Energy - 2315
Frame 1: VelIdx: 1, Shifted VelIdx: 65, Velocity - 0.58 m/s, RangeIdx: 255, Range - 328.95 m, Energy - 3140
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 2476
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 2267
Frame 1: VelIdx: 2, Shifted VelIdx: 66, Velocity - 1.16 m/s, RangeIdx: 255, Range - 328.95 m, Energy - 2257
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 2483
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 2254
Frame 1: VelIdx: 126, Shifted VelIdx: 62, Velocity - -1.16 m/s, RangeIdx: 255, Range - 328.95 m, Energy - 2234
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 0, Range - 0.00 m, Energy - 3381
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 1, Range - 1.29 m, Energy - 3149
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 2, Range - 2.58 m, Energy - 2320
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 254, Range - 327.66 m, Energy - 2326
Frame 1: VelIdx: 127, Shifted VelIdx: 63, Velocity - -0.58 m/s, RangeIdx: 255, Range - 328.95 m, Energy - 3145

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

The output you shared is saying "2 RX Peak Detection Result". I am assuming the second one is with 4 Rx. I am on travel this week. I will spend sometime on this next week to reproduce this issue in standalone testbench.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

Yes it is. Sorry about the cut and paste error.

Regards,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,
Can you provide the input data , the create and inArgs parameters which you have used in your testing.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

No special input data set required. Please simply use the test bench input data. As far as the inArgs params, Use below. This was what I sent you in this thread.

Hi Anshu,

Questions about the PkDetect input params below. I am using the peak_detection_cfg_5.cfg as sample params.

My questions parameters are highlighted in RED given our system params below:

nTx = 1;

nRx = 4 (RX0, RX1, RX2, RX3)

Range DIM: 256

Doppler DIM: 128

But we want to PkDetect to perform detection on only RX1 and RX2. Besides the buffer offset to RX1 so the Alg will process RX1+RX2 below:

The config params are set as such:

Thank you,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Anshu,

Do you have any updates on your test?

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,
Sorry for the delay. I spent sometime on this today and I did a code review and I think it should work. But I have one doubt, the first step in peak detection is to sum the energy across the antenna and if we remove 2 antennas then the sum is already not the same as when you do the same with 4 antennas. So expecting peaks to be the same in both the cases doesn't look right to me. Can you provide your views on this?

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

Would you mind run the test code instead and the sample data in the test bench with the config we discussed in this thread? Reviewing the code and believe it would work wouldn't help me fixing this problem.

You mentioned the sum of 2 antennas out of 4 is already different. Sure, but so what? It's still produce a weaker SUM on the target bin and should NOT introduce detected targets at completely wrong bins per what I saw in the data provided.

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

Based on the arguments which you have shared it looks like you have used peak_detection_5.cfg as your base config file. Can you confirm that you have used the input antenna data and threshold as it is in the config ( only changing range and doppler dimension) and it is still giving some detections. I tried similar thing but i am getting zero detections with default configurations.

Regarding the second point, if the contribution of the antenna which we remove is bigger than those peaks may completely be removed. Anyway if you can answer my above question then I would try to reproduce.

Regards,

anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Hi Anshu,

1. No, I did not try the test bench code and config file. Actually I do not know how to build this test code and run it on the controller. I am more than willing to do it if you give proper instructions.

2, The first and last antenna data being removed are much weaker antennas. In our application, they are not to be used in contributing to the detection in CFAR, That's why it's desirable for us to remove them from CFAR. You asked for real data to be used in the test code. I do have real data but then, in what format should I be given it to you? Would the 2nd FFT output data format work?

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

Please refer eve_sw_getting_started.pdf for build instructions.

Regarding point 2, the data which peak detection applet expects is in the format of output of Doppler FFT.

Regards,

Anshu

0 Khai Trinh over 5 years ago in reply to Anshu Jain

Genius 4140 points

Anshu,

It's too hard to follow instructions in the eve_sw_getting_started.pdf. The PDF version i have is completely outdated as web links are no longer working.

I have the CCS8 and VisionSDK all downloaded and installed, and the XDC tools to build VisionSDK for more than a year now, Would this satisfy the requirement for building EVE code, right?

Attach is the real RDM data captured from output from Doppler FFT. The data only contains a single angle reflector target in the FOV. Please help running this data into your offline test bench setup.

Thanks,

--Khai

rdm.zip

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Anshu,

Sorry, the data contains 3 targets in the FOV within 100 meters.

Regards,

--Khai

0 Khai Trinh over 5 years ago in reply to Khai Trinh

Genius 4140 points

Hi Anshu,

Thanks for taking the time to walk me thru the EVE code last night.

Looking at the EVE Getting Started, looks like I need but require NDA which we already have with TI

1. EVE Simulator Pack

2. ARP32 Compiler

3. EVE software package download from CDDS (Not sure if required since I already have the Vision SDK with alot of EVE Alg and sample test benches)

Thanks,

--Khai

0 Anshu Jain over 5 years ago in reply to Khai Trinh

TI__Guru 56820 points

Hi Khai,

ARP 32 compiler is part of SDK release and is located at ti_components/cg_tools/arp32_1.0.7.

Regards,

Anshu

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