• State Resolved
  • Locked Locked
  • Replies 4 replies
  • Subscribers 34 subscribers
  • Views 740 views
  • Users 0 members are here
Support feedback
Options
Options
Similar topics

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

Linux/IWR1443BOOST: Max Points of Ros Driver Package on Rviz.

user5205609
Intellectual 960 points
Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443, DCA1000EVM

Tool/software: Linux

Hi,

Please teach me if the following is possible.

I would like to increase the number of points displayed in the point cloud, but where should I change it?

I onece heard that Ros Driver Package can display 100 points per one object on Rviz default.

For example,can I increase this to 200 points per one object?
How many points can be displayed per one object?

--------------The details are as follows.-------------

Using:
ti_mmwave_rospkg:1.3.0
mmwave_sdk_01_02_00_05
BORD:IWR1443BOOT

I use dualboot ubuntu16.04LTS.Not Virtual Box.

I confirmed the execution and display of Rviz with the default setting.

  • 0
    TI__Guru*** 138329 points
    Hi,

    Please check the mmWave SDK OOB demo documentation.

    We will be limited by the number of points one can transfer through the UART interface.

    Thank you
    Cesar
  • 0 in reply to Cesar
    Intellectual 960 points

    Hi,

    Thank you very match.

    The manuals below are proper?
    Although my understanding may be inadequate,please teach me which page specify.

    [1].mmwave_sdk_user_guide.pdf
       (Product Release 1.2.0
       Release Date: Mar 9, 2018
       Document Version: 1.0)
     ・Page 37,IWR1443 cannot be changed?
     Or must I search the point in Ros source code directly?

    [2].swru529a.pdf
      (SWRU529A–May 2017–Revised October 2017)
      By cfg,I changed and tried some parameter (Peak Grouping,CFAR cfg,multi object beam forming),
      I was able to change that the number of points is roughly more or less.
      But they are not parameter for max limit points ,are they?

      As another method, is it possible to increase the PointCloud display number,
      when we change Interface LVDS by use DEVPACK at the following address?

      www.ti.com/.../mmwave-devpack

  • 0 in reply to user5205609
    TI__Mastermind 21295 points

    Hello,

    The ROS mmWave driver simply parses the detected object data from the PC serial port which allows the ROS visualizer (Rviz) to visualize it (similar to the mmWave Demo Visualizer). It expects the data format to match the data format output from the mmWave SDK mmw (out-of-box) demo. The demo code can be modified and rebuilt to change the processing chain if desired as described in the mmWave SDK user guide.

    The mmWave SDK demo parameters you changed are the correct ones to give more or less points. The ROS mmWave driver relies on the std::vector C++ data type to store the points and thus has no explicit limit on the number of points. However, the mmWave SDK out-of-box demo code limits the number of points using the constant "MMW_MAX_OBJ_OUT" defined in mmwave_sdk_<ver>\packages\ti\demo\xwr14xx\mmw\data_path.h.

    Collecting the raw Radar ADC data via LVDS can be done using the newly announced DCA1000EVM mmWave data capture card and mmWave Studio software (www.ti.com/.../MMWAVE-STUDIO). This would give you the raw Radar data at the beginning of the processing chain shown on page 37 of the mmWave SDK version 1.2 user guide. This allows customers to analyze the raw data and try their own processing chain algorithms on the data if desired.

    Please mark as answered if your questions are resolved or reply if more support is required.

    Regards,
    John

  • 0 in reply to JohnH
    Intellectual 960 points
    Hi,

    Thankyu very much.

    I will try change of "MMW_MAX_OBJ_OUT",and check the Home Page of DCA1000EVM.

    Regards
    user5205609