test selfcalibration

km3beam.py

@@ -3,8 +3,6 @@ import scipy.signal as ssg
 
 from functools import partial
 
-from tqdm import tqdm_notebook as tqdm
-
 """
     Calculates distance(s) between a point 'p' and a(n array of) point(s) 'q'
     as the norm of the difference vector(s) 'pq'
@@ -34,10 +32,12 @@ def xcorr(u1, u2):
 def chirp_template(f0, t1, f1):
     return partial(wchirp, f0=f0, t1=t1, f1=f1)
 
-class BeamStreamer():
-    O  = (0,0,0) # origin of coordinates
-    c0 = 1500   # speed of sound [m/s]  
-    
+class AcouEnv():
+    O  = (0,0,0) # origin
+    c0 = 1500    # speed of sound [m/s]
+    h  = 2500
+
+class AcouStreamer(AcouEnv):
     def __init__(self, f_s, footprint, beacon, noise_level = 0.0, t_margin = 0.0):
         self.f_s         = f_s
         self.beacon      = beacon
@@ -45,7 +45,7 @@ class BeamStreamer():
         self.calc_delays(footprint)
         self.init_timebase(t_margin)
         self.reset_noise(noise_level)
-        
+    
     def calc_delays(self, footprint):
         self.distances = dist(footprint, self.beacon) - dist(self.O, self.beacon) 
         
@@ -63,8 +63,32 @@ class BeamStreamer():
         
     def sim_signals(self, template):
         self.reference = template(self.timebase)
-        for stream, delay in zip(tqdm(self.streams), self.delays):
+        for stream, delay in zip(self.streams, self.delays):
             stream[self.sect] += template(self.timebase[self.sect] - delay)
+            
+    def calibrate_delays(self):
+        self.rec_shifts = np.empty_like(self.delays, dtype=int)    
+        for i, stream in enumerate(self.streams):
+            cross_correlation = xcorr(stream[self.sect], self.reference[self.sect])
+            self.rec_shifts[i] = np.argmax(cross_correlation) - self.sect.start
+            
+    @property
+    def t(self):
+        return self.timebase[self.sect]
+    
+    @property
+    def s(self):
+        return self.streams[:, self.sect]
+   
+    @property
+    def delays(self):
+        return self.distances / self.c0
+
+    @property
+    def calibrated_distances(self):
+        return dist(self.O, self.beacon) + (self.rec_shifts / self.f_s) * self.c0
+    
+class BeamFormer(AcouStreamer):        
     
     def beamform(self, nominal_footprint, probe):
         W = np.zeros_like(self.timebase[self.sect])
@@ -80,13 +104,7 @@ class BeamStreamer():
     def delays(self):
         return self.distances / self.c0
     
-    @property
-    def t(self):
-        return self.timebase[self.sect]
-    
-    @property
-    def s(self):
-        return self.streams[:, self.sect]
+
     
     
 ''' meshgrid helper '''
@@ -126,4 +144,13 @@ class BeamScanner:
                 self.W.append(W)
                 self.X.append(X)
                 Q = np.max(X)
-                self.Z[i, j] = Q
\ No newline at end of file
+                self.Z[i, j] = Q
+               
+                
+def mse(P, locations, distances):
+    mse = 0.0
+    for location, distance in zip(locations, distances):
+        d = dist(P, location)
+        mse += (d - distance)**2 
+    mse /= len(locations)
+    return mse
\ No newline at end of file