Improved DOA metrics update in protobuf

plb9772 commented 3 years ago

To follow the update in ZenCode, we define new outputs:

magnitude: it was before the amplitude measured in the RD which was not very useful since it is not a per-object measurement and is redundant with the rd_mean_snr. It is now the magnitude of the coefficient of an object estimated by the DOA MLE estimator
doa_snr: SNR measured after the DOA estimation. We estimate the variance of the noise as sigma^2 = ||z - coeff * a(theta, phi)||^2 / (n - m) where n is the number of measurements and m the number of parameters to estimate. We then have doa_snr = |coeff| / sigma
azimuth_variance: is the variance on the estimate. It is defined as cov(theta) = sigma^2 * (Hessian(cost(theta))) ^ -1
rd_mean_snr replaces confidence

To be merged when the PR is approved in ZenCode

plb9772 commented 3 years ago

The PR in ZenCode is merged. I realized that since amplitude was renamed to magnitude, it can create a forward compatibility issue. @jimmy-zendar what do you think should be the way to move forward with that ?

plb9772 commented 3 years ago

The path forward is to wait that feature-algorithms is merged into master and the debian packages are updated.

ZendarInc / ZendarSDK

Improved DOA metrics update in protobuf #16