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100 lines
2.3 KiB
100 lines
2.3 KiB
radar:
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fStrt: 77.0e9 # GHz (AWRL1432 Carrier)
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fStop: 77.1372e9 # 137.2 MHz Bandwidth (matched to ConfigureRadar.py)
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TRampUp: 20.48e-6 # Active ADC sweep time (N / samp_rate)
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TInt: 36.4e-6 # Total chirp interval (chirpT + idle)
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Tp: 36.4e-6 # Chirp Repetition Period — overridden at runtime by _sync_configs()
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N: 256
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IniTim: 100e-3
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IniEve: 0
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TxSeq: [1]
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Np: 128 # Matches ConfigureRadar.py for AWRL1432 alignment
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AntIdx: [0, 1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 14, 15]
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# AntIdx: [0, 1, 2, 3, 4, 5, 6, 7]
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NrChn: 86 #16
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FFT:
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NFFT: 256 #512
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NFFTVel: 128
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NFFTAnt: 256 #128
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RMin: 0
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RMax: 1000
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c0: 299792458
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Cluster:
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xlim: [-20, 20]
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ylim: [0, 40]
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zlim: [0, 2]
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ROS:
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Topic:
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radarCfg: '/radarbook/config'
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radarRaw: '/radarbook/data'
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radarPCD: '/radarbook/pcd'
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cameraRGB: '/camera/color/image_raw'
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cameraDepth: '/camera/depth/image_rect_raw'
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lidarPCD: '/os1_cloud_node/points'
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SavePath:
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radarCfg: '/radar_cfg.json'
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radarRaw: '/radar_data/'
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radarPCD: '/radar_pcd/'
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cameraRGB: '/rgb_image/'
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# cameraRGB: '/camera_original/'
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cameraDepth: '/depth_image/'
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# lidarPCD: '/lidar_pcd/'
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lidarPCD: '/raw_lidar/'
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timeStamp: '/time_stamp.npy'
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CFAR:
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win_param: [9, 9, 3, 3]
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threshold: 20
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Visualize:
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rangeAoA:
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title: "Range-Angle Plot"
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xLabel: "Range"
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xUnit: "m"
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yLabel: "Angle"
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yUnit: "Degree"
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winSize: [500, 400]
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pos: [50, 50]
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rangeDoppler:
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title: "Range-Velocity Plot"
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xLabel: "Range"
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xUnit: "m"
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yLabel: "Velocity"
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yUnit: "m/s"
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winSize: [500, 400]
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pos: [600, 50]
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radarPCD:
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title: "Radar Point Cloud"
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xLabel: "Azimuth Position"
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xUnit: "m"
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yLabel: "Depth Position"
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yUnit: "m"
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winSize: [500, 400]
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pos: [1200, 50]
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penWidth: 5
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penColor: 'r'
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symbol: 'o'
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dotSize: 1
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cameraRGB:
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title: "RGB Image"
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winSize: [640, 360]
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pos: [50, 500]
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cameraDepth:
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title: "Depth Image"
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winSize: [640, 360]
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pos: [600, 500]
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lidarPCD:
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title: "Lidar Point Cloud"
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xRange: [-30, 30]
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yRange: [-30, 30]
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winSize: [500, 400]
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pos: [1200, 500]
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dotSize: 1
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