radar:
  fStrt: 77.0e9              # GHz (AWRL1432 Carrier)
  fStop: 77.1372e9           # 137.2 MHz Bandwidth (matched to ConfigureRadar.py)
  TRampUp: 20.48e-6          # Active ADC sweep time (N / samp_rate)
  TInt: 36.4e-6              # Total chirp interval (chirpT + idle)
  Tp: 36.4e-6                # Chirp Repetition Period — overridden at runtime by _sync_configs()
  N: 256                   
  IniTim: 100e-3             
  IniEve: 0                  
  TxSeq: [1]              
  Np: 128                    # Matches ConfigureRadar.py for AWRL1432 alignment
  AntIdx: [0, 1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 14, 15]
  # AntIdx: [0, 1, 2, 3, 4, 5, 6, 7]
  NrChn: 86 #16


FFT:
  NFFT: 256 #512
  NFFTVel: 128
  NFFTAnt: 256 #128
  RMin: 0
  RMax: 1000
  c0: 299792458


Cluster:
  xlim: [-20, 20]
  ylim: [0, 40]
  zlim: [0, 2]


ROS:
  Topic:
    radarCfg: '/radarbook/config'
    radarRaw: '/radarbook/data'
    radarPCD: '/radarbook/pcd'
    cameraRGB: '/camera/color/image_raw'
    cameraDepth: '/camera/depth/image_rect_raw'
    lidarPCD: '/os1_cloud_node/points'
  SavePath:
    radarCfg: '/radar_cfg.json'
    radarRaw: '/radar_data/'
    radarPCD: '/radar_pcd/'
    cameraRGB: '/rgb_image/'
    # cameraRGB: '/camera_original/'
    cameraDepth: '/depth_image/'
    # lidarPCD: '/lidar_pcd/'
    lidarPCD: '/raw_lidar/'
    timeStamp: '/time_stamp.npy'

CFAR:
  win_param: [9, 9, 5, 5]  # [Est. width, Est. height, Guard width, Guard height] - Widened guard to 11x11 to isolate nearby clutter
  threshold: 20             # dB (Standard) - Reverted to 20dB as per user request to maintain baseline sensitivity
  peak_grouping: true      # Toggle Non-Maximum Suppression (NMS) to eliminate range/doppler sidelobes


Visualize:
  rangeAoA:
    title: "Range-Angle Plot"
    xLabel: "Range"
    xUnit: "m"
    yLabel: "Angle"
    yUnit: "Degree"
    winSize: [500, 400]
    pos: [50, 50]
  rangeDoppler:
    title: "Range-Velocity Plot"
    xLabel: "Range"
    xUnit: "m"
    yLabel: "Velocity"
    yUnit: "m/s"
    winSize: [500, 400]
    pos: [600, 50]
  radarPCD:
    title: "Radar Point Cloud"
    xLabel: "Azimuth Position"
    xUnit: "m"
    yLabel: "Depth Position"
    yUnit: "m"
    winSize: [500, 400]
    pos: [1200, 50]
    penWidth: 5
    penColor: 'r'
    symbol: 'o'
    dotSize: 1
  cameraRGB:
    title: "RGB Image"
    winSize: [640, 360]
    pos: [50, 500]
  cameraDepth:
    title: "Depth Image"
    winSize: [640, 360]
    pos: [600, 500]
  lidarPCD:
    title: "Lidar Point Cloud"
    xRange: [-30, 30]
    yRange: [-30, 30]
    winSize: [500, 400]
    pos: [1200, 500]
    dotSize: 1