Consultation about the parameter values setting of getPointCloudPolarInd()

[Dr-Yongqiang]

Hello, the codebase you've developed is truly excellent! May I kindly inquire about the recommended settings for the parameters "peakDistance" and "peakProminence" when using the function getPointCloudPolarInd()?

[Samleo8]

Hi, sorry for the late reply. These are parameters come from, and are described in more detail in the original paper: https://arxiv.org/pdf/2104.05347.pdf

I believe choosing them requires a little bit of trial-and-error, and would be related to the configurations/parameters specific to your radar sensor. Of course, you can tune the algorithm to be more or less sensitive to peaks by changing this params, but it is environment specific.

[atomicapple0]

For getPointCloudPolarInd, we never actually ever pass in non None values for peakDistance or peakProminence in our code base. That function calls scipy.signal.find_peaks(azimuthReading, distance=peakDistance, prominence=peakProminence) so we just use the default scipy value. As @Samleo8 said, you may want to play around with various parameters based on your specific dataset.