% stat_RD: range-doppler statistics
% P_fa: false alarm rate

% target_map: show targets in RD map
% target list include range and doppler information


function [ target_list_RD, target_map ] = rd_detection(stat_RD, P_fa)

    % parameters
    target_map = zeros(size(stat_RD));
    [lenA, lenR, lenP] = size(stat_RD);
    
    % detection threshold
    d_thd = chi2inv(1 - P_fa, 2) / 2;
    
    % find target
    target_list_RD = [];
    for i = 1: lenA
        RD_map = squeeze(stat_RD(i, :, :));
        detect_map = zeros(size(RD_map));
        detect_map(RD_map > d_thd) = 1;
        target_map(i, :, :) = detect_map;
        [r, c] = find(detect_map);
        temp_list = zeros(length(r), 3);
        temp_list(:, 1) = i;
        temp_list(:, 2) = r;
        temp_list(:, 3) = c;
        target_list_RD = [target_list_RD; temp_list];
    end
    
end