Scene Utilities

radarsimpy.get_scene_state(targets, radar, timestamp=0.0)

Get the state of the simulation scene, including target meshes, radar platform, transmitter, and receiver locations and boresight directions at query timestamps.

Parameters:

• targets (dict | List[dict] | Tuple[dict, ...]) – A target dict or list/tuple of target dicts.

• radar (Any) – Radar object containing system configuration and motion.

• timestamp (float | ndarray) – Float or numpy array of query timestamp(s). Default: 0.0.

Returns:

A dictionary containing:

• targets (dict): Dictionary of merged target meshes at query timestamps:

  • points (numpy.ndarray): Transformed vertex coordinates. If timestamp is a scalar, shape is [N, 3]. If timestamp is an array of shape [...], shape is [..., N, 3].

  • cells (numpy.ndarray): Face indices with shape [M, 3].

• tx_locations (numpy.ndarray): Global locations of Transmitter channels. Shape is [M, 3] if timestamp is scalar, or [..., M, 3] if array.

• rx_locations (numpy.ndarray): Global locations of Receiver channels. Shape is [N_rx, 3] if timestamp is scalar, or [..., N_rx, 3] if array.

• radar_boresight (numpy.ndarray): Global boresight direction of the radar platform. Shape is [3] if timestamp is scalar, or [..., 3] if array.

Return type:

dict