config.yaml

# Paths to data directories for GPR image construction.
directory_paths: [
  '/home/abaik/gpr_data_analysis_ws/data/PUBTEST/1612204529-582686901-smith-cmu-gpr'
]

training_data_output_path: '/home/abaik/gpr_data_analysis_ws/data/train_out'

# Ground truth point.
# Either center or left.
ground_truth_point: 'center'

radargram:
  create: True

  training_data_image_resolution: 0.015 # meters.


submaps:
  # Turn on submap construction.
  create: False

  # Range covered in training data images.
  training_data_image_range: 3

  # Resolution of training data image (number of columns).
  # This value should be approximately the same as the number of GPR measurements
  # within the desired range.
  training_data_image_size: 100

  training_data_image_resolution: 0.015 # meters.

  # Distance between total station measurements in image construction.
  ts_spacing: 0.02 # meters.

  # Distance between odom measurements in image construction.
  we_spacing: 0.02 # meters.

im_props:
  # Image resolution.
  resolution: 0.02  # meters.

  # Subtract background from image.
  background_removal: true
  background_removal_window: 0
  background_removal_range_mult: 3

  # Manually selected SEC gain parameters.
  # NSH Highbay
  # std_max: 3
  # sec_gain_params:
  #   a: .015
  #   b: .01
  #   thresh: 100

  # # NSH B Level
  # std_max: 2
  # sec_gain_params:
  #   a: .06
  #   b: .5
  #   thresh: 80

  # # NREC
  # std_max: 2
  # sec_gain_params:
  #   a: .03 
  #   b: 0
  #   thresh: 110
  
  # # Gates garage.
  # std_max: 2
  # sec_gain_params:
  #   a: .03
  #   b: .7
  #   thresh: 80

  # # Highbay
  std_max: 2.5
  sec_gain_params:
    a: .015
    b: 0
    thresh: 100

  gaussian_params:
    use: True
    sigma: 1
    order: 0

  triangular_params:
    # Manufacturer specified system parameters.
    sampling_freq: 5e+9

    min_freq: 200e+6
    max_freq: 850e+6

    num_taps: 101

  dewow_params:
    degree: 3

  # Splitting up data based on critical points.
  split:
    # Change direction (forward-backward detector).
    range:
      # Acceleration peak.
      # Second derivative of the filtered odom values.
      accel: 0.0003

      # Butterworth bandpass filter parameters.
      butter:
        order: 3
        wn: 0.02
    
    # Change direction (turning detector).
    gyro:
      # Turn off turning detector.
      use: False
      # Height of angular velocity peak.
      height: 0.1
      # Distance between angular velocity peaks.
      dist: 2000

visualize:
  imu_peaks: False

  gpr_image: False

  show: True