IWR6843ISK: Regarding processing of point cloud data

Aleena N A

Part Number: IWR6843ISK
Other Parts Discussed in Thread: IWR6843

Hello,

I am using IWR6843ISK package for obtaining point cloud data along with ROS package. My project is identifying people using the mmwave radar.

I have done DBScan clustering on the data and clustered it. Does anyone familiar with using hungarian algorithm on this clustered data?

Thanks in advance.

Thanks and regards,

Aleena N A

over 4 years ago

0 Ishita Kochar over 4 years ago

TI__Mastermind 31680 points

Hello Aleena,

I have forwarded your query to our concerned expert. Please expect a response this week.

Regards,

Ishita

0 Aleena N A over 4 years ago in reply to Ishita Kochar

Intellectual 530 points

Hai Ishita,

Thank you for your response.

0 Akash Gondalia over 4 years ago in reply to Aleena N A

TI__Guru 50240 points

Hi Aleena

Can you confirm which software you have flashed on to your IWR6843 device?

Regards,

0 Aleena N A over 4 years ago in reply to Akash Gondalia

Intellectual 530 points

Hai Akash,

I have followed the user guide instructions as given in this link: https://dev.ti.com/tirex/explore/node?node=AEQkk0eWB3Bd8Uil30nXbA__VLyFKFf__LATEST . I have obtained the data as shown below,

. I converted it into csv file as,

. I have taken the x,y,z from this and performed DBScan clustering. Now I have to perform Hungarian algorithm. I am following the paper http://www.cs.ox.ac.uk/files/10889/%5BDCOSS19%5DmID.pdf.

Thanks and regards,

Aleena N A

0 Sabeeh Khan1 over 4 years ago in reply to Aleena N A

TI__Mastermind 31010 points

Hi Aleena,

Thank you for this question. For detecting and tracking people, we do not use the hungarian algorithm, so we can not directly assist here.

However, we already have a demo that tracks people. Please see here: https://dev.ti.com/tirex/explore/node?node=AIQzhJRYjeBjkiRvsK8EVg__VLyFKFf__LATEST

In the Industrial toolbox and the mmWave SDK, you can find a document that explains the high-level implementation of the tracker.

0 Aleena N A over 4 years ago in reply to Sabeeh Khan1

Intellectual 530 points

Hello Sabeeh,

Thanks for the reply. Is there any source code available? And also according to the documentation above in the first step in tracking they are using x,y,z,vx,vy,vz,ax,ay,az. But my point cloud data have only x,y,z,velocity,range,intensity.

0 Sabeeh Khan1 over 4 years ago in reply to Aleena N A

TI__Mastermind 31010 points

The TI mmWave Sensors will not provide vx,vy,vz,ax,ay,az.

Source code for the tracker algorithm, known as GTRACK, is provided in the mmWave SDK. Here is a link to the mmWave SDK: https://www.ti.com/tool/MMWAVE-SDK

0 Aleena N A over 4 years ago in reply to Sabeeh Khan1

Intellectual 530 points

Hai Sabeeh,

How will I get the detection layer output?

0 Sabeeh Khan1 over 4 years ago in reply to Aleena N A

TI__Mastermind 31010 points

Hi Aleena,

Please see the area scanner or people counting demos in the Industrial Toolbox on dev.ti.com/tirex/ . These demos are examples with source code provided to help you develop an application where tracking is needed.

The GTRACK algorithm was designed to run directly on the radar, and not in a ROS application. You can use the UART output of the demos for your tracking application.

0 Aleena N A over 4 years ago in reply to Sabeeh Khan1

Intellectual 530 points

Hello,

I am getting the tracked output(which is the final output from the gtrack). I want the detection layer output which is the input for gtrack.

0 Sabeeh Khan1 over 4 years ago in reply to Aleena N A

TI__Mastermind 31010 points

The input to the GTRACK is the point cloud in spherical coordinates (not cartesian) as well as the point cloud side info (SNR, and noise).

0 Aleena N A over 4 years ago in reply to Sabeeh Khan1

Intellectual 530 points

Hello,

Is there anyway to get that?

0 Sabeeh Khan1 over 4 years ago in reply to Aleena N A

TI__Mastermind 31010 points

The point cloud is output from the sensor from all demos. You can then convert the pointcloud into spherical coordinates. In the mmWave SDK, there is a file named dpif_utils.c. This source code can help you convert from cartesian to spherical.

You can also write sensor firmware to do the conversion, then only provide spherical coordinates over the uart.

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IWR6843ISK: Regarding processing of point cloud data