IWR6843ISK: Define different objects dected with people counting demo lab

Hi Jackson,

Thank you for your quick reply.
I think the best approach is what you suggested, of using the target index of TLV 8, but I want to make sure if I understand you right.
To estimate the object size, I should use the target index of the detected object in the TLV 8 and check if it returns multiplied IDs of the same detected object, which indicates a large amount of points clouds, and thus a larger object?
Or, did you mean that the index ID of the TLV 8 should be the reference for checking the object size in the TLV 6?

Thanks,
Avi

Hi Jackson,

I Understood. So how do I use the associated points to map out the size/volume of the object in TLV 6? Is there any formula, or I am just looking at the total sum/length of the bytes?

Thanks,
Avi

Hello,

There is no set formula, it is however you want to do it, and may depend on your chirp configuration and what the pointcloud looks like. But to start I would simply look for the tallest, lowest, leftmost, and rightmost point associated with the track and use that to estimate rough size. 

Regards,

Jackson

Hi Jackson,

Here is the data output structure of the TLV 6 (Point Cloud TVL) :

DPIF_PointCloudSpherical = struct(...

'range', {'float', 4}, ... % Range, in m

'azimuth', {'float', 4}, ... % Azimuth angle, in rad

'elevation', {'float', 4}, ... % Elevation angle, in rad

'doppler' {'float', 4}, ... % Doppler, in m/s

DPIF_PointCloudSideInfo = struct(...

'snr', {'int16_t', 2}, ... % SNR, ratio

'noise' {'int16_t', 2}, ... % Noise

And this is an example of the values that I am getting when I do the calculation according to the reference of the data output structure of the TLV 6 on the data stream:

Hello Avi,

Can you please confirm which version of the toolbox you are using for this demo?

In general, the pointcloud should probably be converted to cartesian coordinates instead of spherical to compute size. That might make it a little more straightforward to determine the most extreme points associated with each track.

Regards,

Jackson

Hi Jackson,

We are using Toolbox 4.7.0
We converted the spherical coordinates to cartesian coordinates and computed the size.
But the problem messing with our calculation is that we are not getting the exact numbers of TLV 6 and TLV 8 in the same frame. We expect to get 1:1 relations to do the calculation, but the situation is that we get a none equal random amount.
Is this the case, or is there any logic that we should know regarding the relationship between those two TLV's?

Thanks,
Avi

Hi Jackson,

I see, But what happens if, for example, we are getting in frame X 10 TLV 8 and in frame-1 5 TLV 6. what those it means? is it a malfunction?

Thanks,
Avi

Hello,

This should not be the case, the number of reported points should be the same. Do you have an example in the data? Some of the TLV8 points may be marked as 254 or 255 code, which means they are not classified.

Regards,

Jackson

Hi Jackson,

Here is an example of frame data:

02 01 04 03 06 05 08 07 01 00 05 03 43 68 0a 00 f4 d8 30 86 60 0d 00 00 49 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 00 c6 15 06 00 00 00 f0 04 00 00 4a f2 bb 40 49 48 c0 3d 00 00 00 00 00 00 00 00 d0 9b cb 40 49 48 c0 3d 00 00 00 00 00 00 00 00 56 45 db 40 f0 55 00 3e 00 00 00 00 00 00 00 00 56 45 db 40 0e 50 4d bf 00 00 00 00 00 00 00 00 dc ee ea 40 ca b9 a2 be 00 00 00 00 00 00 00 00 dc ee ea 40 f6 0e 42 bf 00 00 00 00 00 00 00 00 4a f2 bb 40 5f 15 80 3d 00 00 00 00 14 90 ff 3d d0 9b cb 40 5f 15 80 3d 00 00 00 00 14 90 ff 3d 56 45 db 40 5f 15 80 3d 00 00 00 00 14 90 ff 3d dc ee ea 40 a7 cf c4 3e 00 00 00 00 14 90 ff 3d dc ee ea 40 7f 31 d6 be 00 00 00 00 14 90 ff 3d b7 f5 0c 41 ad 8a 80 3f 00 00 00 00 14 90 ff 3d b7 f5 0c 41 c5 ca f9 3e 00 00 00 00 14 90 ff 3d 4a f2 bb 40 49 48 c0 3d 00 00 00 00 14 90 7f 3e d0 9b cb 40 49 48 c0 3d 00 00 00 00 14 90 7f 3e 56 45 db 40 49 48 c0 3d 00 00 00 00 14 90 7f 3e f4 20 05 41 94 d7 e7 3e 00 00 00 00 14 90 7f 3e f4 20 05 41 ad 8a 80 3f 00 00 00 00 14 90 7f 3e b7 f5 0c 41 ad 8a 80 3f 00 00 00 00 14 90 7f 3e b7 f5 0c 41 94 d7 e7 3e 00 00 00 00 14 90 7f 3e 7a ca 14 41 2b cc 72 3f 00 00 00 00 14 90 7f 3e b7 f5 0c 41 33 60 88 3f 00 00 00 00 0f ac bf 3e b7 f5 0c 41 a7 cf c4 3e 00 00 00 00 0f ac bf 3e 4a f2 bb 3f 4e 5f 81 3e 00 00 00 00 12 9e 5f 3f 62 98 fa 3f 4e 5f 81 3e 00 00 00 00 12 9e 5f 3f 3d 9f 1c 40 4e 5f 81 3e 00 00 00 00 12 9e 5f 3f 93 36 81 41 fa bd 22 bf 00 00 00 00 12 9e 5f 3f 93 36 81 41 56 05 00 3d 00 00 00 00 12 9e 5f 3f f4 20 85 41 6c d5 2c bf 00 00 00 00 12 9e 5f 3f f4 20 85 41 5f 15 80 3d 00 00 00 00 12 9e 5f 3f 62 98 7a 3f 4e 5f 81 3e 00 00 00 00 14 90 7f 3f 4a f2 bb 3f 4e 5f 81 3e 00 00 00 00 14 90 7f 3f 62 98 fa 3f 4e 5f 81 3e 00 00 00 00 14 90 7f 3f 3d 9f 1c 40 4e 5f 81 3e 00 00 00 00 14 90 7f 3f 4a f2 3b 40 4e 5f 81 3e 00 00 00 00 14 90 7f 3f 86 1d 34 41 86 a8 20 3e 00 00 00 00 14 90 7f 3f 86 1d 34 41 c5 ca f9 3e 00 00 00 00 14 90 7f 3f 93 36 81 41 fa bd 22 bf 00 00 00 00 14 90 7f 3f f4 20 85 41 a0 ef 18 bf 00 00 00 00 14 90 7f 3f f4 20 85 41 5f 15 80 3d 00 00 00 00 14 90 7f 3f 56 0b 89 41 a7 cf c4 3e 00 00 00 00 14 90 7f 3f 56 0b 89 41 fa bd 22 bf 00 00 00 00 14 90 7f 3f 4a f2 bb 3f 29 f8 91 3e 00 00 00 00 0b c1 8f 3f 62 98 fa 3f 29 f8 91 3e 00 00 00 00 0b c1 8f 3f 3d 9f 1c 40 29 f8 91 3e 00 00 00 00 0b c1 8f 3f 4a f2 3b 40 29 f8 91 3e 00 00 00 00 0b c1 8f 3f c3 48 2c 41 49 48 c0 3d 00 00 00 00 0b c1 8f 3f c3 48 2c 41 94 d7 e7 3e 00 00 00 00 0b c1 8f 3f 86 1d 34 41 f0 55 00 3e 00 00 00 00 0b c1 8f 3f 86 1d 34 41 c5 ca f9 3e 00 00 00 00 0b c1 8f 3f 93 36 81 41 fa bd 22 bf 00 00 00 00 0b c1 8f 3f 93 36 81 41 7f 31 d6 3e 00 00 00 00 0b c1 8f 3f f4 20 85 41 a0 ef 18 bf 00 00 00 00 0b c1 8f 3f f4 20 85 41 7f 31 d6 3e 00 00 00 00 0b c1 8f 3f 56 0b 89 41 a7 cf c4 3e 00 00 00 00 0b c1 8f 3f 4a f2 bb 3f ca b9 a2 3e 00 00 00 00 0c ba 9f 3f 62 98 fa 3f ca b9 a2 3e 00 00 00 00 0c ba 9f 3f 3d 9f 1c 40 ca b9 a2 3e 00 00 00 00 0c ba 9f 3f 00 74 24 41 c5 ca f9 be 00 00 00 00 0b c1 8f bf c3 48 2c 41 c5 ca f9 be 00 00 00 00 0b c1 8f bf 86 1d 34 41 7f 31 d6 be 00 00 00 00 0b c1 8f bf 86 1d 34 41 5f 15 80 bd 00 00 00 00 0b c1 8f bf 3d 9f 1c 41 94 d7 e7 be 00 00 00 00 14 90 7f bf 00 74 24 41 92 0a 06 bf 00 00 00 00 14 90 7f bf c3 48 2c 41 92 0a 06 bf 00 00 00 00 14 90 7f bf 86 1d 34 41 c5 ca f9 be 00 00 00 00 14 90 7f bf 00 74 24 41 92 0a 06 bf 00 00 00 00 12 9e 5f bf c3 48 2c 41 92 0a 06 bf 00 00 00 00 12 9e 5f bf 86 1d 34 41 92 0a 06 bf 00 00 00 00 12 9e 5f bf c3 48 2c 41 92 0a 06 bf 00 00 00 00 0f ac 3f bf b7 f5 8c 40 56 05 00 bd 00 00 00 00 14 90 7f be b7 f5 8c 40 56 05 00 bd 00 00 00 00 14 90 ff bd 4a f2 bb 40 86 a8 20 3e 00 00 00 00 14 90 ff bd d0 9b cb 40 86 a8 20 3e 00 00 00 00 14 90 ff bd d0 9b cb 40 2a 41 37 bf 00 00 00 00 14 90 ff bd 56 45 db 40 2a 41 37 bf 00 00 00 00 14 90 ff bd 56 45 db 40 a7 24 41 3e 00 00 00 00 14 90 ff bd dc ee ea 40 79 d3 61 be 00 00 00 00 14 90 ff bd dc ee ea 40 6c d5 2c bf 00 00 00 00 14 90 ff bd 09 00 00 00 3c 01 00 00 46 01 75 02 4a 01 9d 02 ff 00 c6 02 ff 00 c6 02 66 00 db 02 66 00 db 02 81 01 6e 02 95 01 82 02 4a 01 9e 02 b8 00 b9 02 b8 00 b9 02 70 00 0d 03 70 00 0d 03 48 01 61 02 5c 01 74 02 15 01 8e 02 8a 00 e9 02 8a 00 e9 02 9e 00 f8 02 9e 00 f8 02 70 00 fc 02 81 00 dc 02 81 00 dc 02 d4 00 ec 02 fe 00 f5 02 d9 00 f9 02 69 00 c6 02 69 00 c6 02 7d 00 c0 02 7d 00 c0 02 a2 00 b3 02 35 01 c0 02 57 01 d1 02 26 01 e2 02 9a 00 f1 02 69 00 f1 02 69 00 f1 02 98 00 ce 02 a8 00 d0 02 a8 00 d0 02 7c 00 d2 02 7c 00 d2 02 05 01 b6 02 2e 01 c3 02 fe 00 d8 02 82 00 e3 02 8e 00 d8 02 8e 00 d8 02 92 00 e3 02 92 00 e3 02 a6 00 b5 02 a6 00 b5 02 ae 00 c3 02 ae 00 c3 02 67 00 c9 02 6b 00 ad 02 ab 00 b8 02 95 00 c7 02 ba 00 95 02 b9 00 9d 02 71 00 a4 02 71 00 a4 02 a2 00 7d 02 fd 00 8b 02 fb 00 9c 02 96 00 a9 02 d3 00 98 02 df 00 a4 02 91 00 ae 02 b4 00 96 02 73 00 dc 02 87 00 20 03 20 01 77 02 25 01 9d 02 25 01 9d 02 dd 00 c9 02 dd 00 c9 02 68 00 e3 02 68 00 e3 02 07 00 00 00 90 06 00 00 00 00 00 00 72 86 59 40 be 76 dc 40 33 a0 67 28 79 52 23 c0 15 53 10 40 ea 47 89 29 3f a7 99 bf 64 73 ad bf 2c 5d 7f 29 27 ef 50 3e fd 9b e9 bc e2 04 12 a6 5b f4 56 bd fd 9b e9 bc 10 00 e2 40 5d 26 eb a7 d2 4c a0 bc e3 04 12 a6 5f 26 eb a7 30 7d b7 41 78 06 f6 a6 5b f4 56 bd d0 4c a0 bc 76 06 f6 a6 f1 21 f3 3e 00 00 80 40 dd e5 fb 3e 02 00 00 00 d3 0a 79 c0 a6 2b ac 40 27 18 fd 91 32 90 51 3e 42 63 6d 3e 9a 9d 95 92 12 e1 69 3e e4 ef 37 be 69 1e 09 13 2b 6c 50 3e 7c b8 a3 bd da bf 66 91 69 4a 0e bc 7c b8 a3 bd 86 be ae 40 2f 1f 9b 91 6b 37 34 be da bf 66 91 2c 1f 9b 91 8e 2b d8 42 93 a1 00 92 6b 4a 0e bc 6e 37 34 be 91 a1 00 92 ab 69 f4 3f 00 00 80 40 e6 f8 61 3f 03 00 00 00 78 70 4b c1 59 3d 85 41 4f b1 3d 22 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 68 7c 82 3e 64 d1 55 bd bf 9b b3 a2 b9 ff 6d bd 5f d1 55 bd 7f b5 26 42 6f 91 6f 24 ec c4 2f bf be 9b b3 a2 70 91 6f 24 40 3f b5 42 b8 6f f7 a2 c3 ff 6d bd 06 c5 2f bf bb 6f f7 a2 db 43 a8 40 00 00 80 40 f6 14 6c 3f 05 00 00 00 74 e3 e7 c0 8a 1e 44 40 c5 f2 0b 14 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ef 3c 36 3e 63 3d a8 3c d3 27 89 15 f5 4d 29 bc 60 3d a8 3c a3 2b f0 40 d3 bc 35 13 6a 7c 4f 3d d3 27 89 15 d2 bc 35 13 13 7b ad 42 f4 3c 2a 95 f3 4d 29 bc 6e 7c 4f 3d f4 3c 2a 95 7c f6 6e 3f 00 00 80 40 6e eb 0f 3f 06 00 00 00 44 36 c3 40 d1 88 29 41 d6 4b 3b 2d 67 f8 d8 3e 25 d9 ae 3f 21 4a 04 2e 20 a7 71 3c de 96 54 3f d8 6b a3 2d ba ae f4 3d dd 84 b8 bc db 34 96 2b ff c4 27 bb dd 84 b8 bc 51 96 5f 41 95 9e ea 2b bd 57 a6 bc db 34 96 2b 96 9e ea 2b 1e 57 27 42 07 74 3b aa ff c4 27 bb c3 57 a6 bc 07 74 3b aa b6 85 ff 3d 00 00 80 40 03 97 54 3f 07 00 00 00 50 a4 3d c1 3e 7a 1e 41 97 4d 6e a4 55 44 e4 3e e1 61 5e 3e f1 a3 ea a4 00 00 00 00 00 00 00 00 00 00 00 00 0a 37 05 3e c8 d9 7e bd 43 e5 43 a4 2e 0a c8 bb ca d9 7e bd 9f bd 4f 42 45 88 75 a5 ab 6d 0e 3d 43 e5 43 a4 48 88 75 a5 98 3a 88 42 57 32 ec 23 2b 0a c8 bb b6 6d 0e 3d 57 32 ec 23 4b c9 4e 3f 00 00 80 40 86 f6 4d 3f 09 00 00 00 8d a1 82 3b 46 62 01 41 fe 94 56 29 b1 2f 88 3f 01 4f 83 3f e8 b8 8b 2a 29 aa 6a 3f 2c 43 6d 3f fa 85 e2 2a c1 2b b4 3d a0 0c b4 bd 50 d9 9e a8 a0 f8 bd bc a0 0c b4 bd 33 aa dc 40 44 03 23 2a 28 82 52 be 51 d9 9e a8 46 03 23 2a 70 c7 43 42 6f a9 50 a9 a0 f8 bd bc 28 82 52 be 6f a9 50 a9 80 bb 78 3f 00 00 80 40 03 04 30 3f 0b 00 00 00 59 e9 25 c1 09 ab 6a 41 09 07 ff 35 e5 b8 38 c0 60 96 21 bf e4 ed 18 37 84 df bc bf 54 8a aa be 87 d7 b7 36 ac ba 24 3e 53 e8 0c bd fc 6b ea 33 cd 29 21 bc 52 e8 0c bd 1f 0e 17 42 da 4b e4 b4 e6 68 b2 3c fc 6b ea 33 d8 4b e4 b4 09 53 78 42 ed ad ab b4 cd 29 21 bc e6 68 b2 3c ef ad ab b4 57 fd b8 3f 00 00 80 40 c1 9d 64 3f 0e 00 00 00 87 aa a3 c0 c8 35 17 41 6c b2 2a 2a 48 79 b6 3f 30 ee 61 3d 1e 92 43 2b 36 c6 f1 3e 0e 5c 56 3e 08 ec 79 a9 6c 81 82 3e a3 6e 88 bd 78 25 37 a9 98 52 98 bc a2 6e 88 bd 2c eb 8c 41 e6 30 72 29 95 06 9c be 79 25 37 a9 e8 30 72 29 62 cb 4a 42 c8 8a ab a7 98 52 98 bc 95 06 9c be c8 8a ab a7 63 15 90 3e 00 00 80 40 4b 34 72 3f 0f 00 00 00 db eb 14 40 74 a8 98 40 eb 60 30 30 c8 b9 1b bf c1 38 0b 3f 4c e0 a3 2e 57 68 4c bf 50 72 41 3f 82 29 62 b0 1b 6c 1e 3e d2 53 b3 bc 61 b8 f6 ac ef d0 2a bd d1 53 b3 bc 46 f8 7a 40 44 35 a1 2d a4 d4 48 3d 62 b8 f6 ac 46 35 a1 2d 6b 70 8e 41 ce b8 b4 2e ed d0 2a bd 9e d4 48 3d c5 b8 b4 2e bf fe 39 40 00 00 80 40 ea 26 0c 3f 11 00 00 00 90 82 8a 3d 5d 99 93 41 22 9c c2 b8 2e cb 96 3f c3 4e 24 3f 0e 29 87 b9 f2 29 53 3f f8 4c c0 3f a7 39 8c b9 5f fb 41 3e a9 7c 16 be ae d1 cb b7 dc 72 f5 bc a9 7c 16 be 82 d3 05 42 1c 94 83 b8 ea 05 e9 be ae d1 cb b7 1a 94 83 b8 0f f1 1e 42 b3 f7 70 38 dc 72 f5 bc ea 05 e9 be b3 f7 70 38 3e b7 6a 40 00 00 80 40 0f a1 7d 3f 08 00 00 00 41 c7 98 3e 27 0e 3b 41 7f d3 94 ba dc 5c 82 3e 79 42 25 3e 03 81 68 3b 6e 3c 42 3e 3e e6 8b 3e ca 9b 34 3b 09 5e 08 3e c2 3e b8 bc ff 4f a2 b9 df fd c0 bb c2 3e b8 bc 09 81 6c 41 ec aa 33 3a f5 16 92 bd fe 4f a2 b9 ec aa 33 3a de ff 80 41 07 b6 a7 b8 df fd c0 bb f5 16 92 bd 08 b6 a7 b8 64 90 5f 3e 00 00 80 40 8b 6b 3a 3f 01 00 00 00 88 87 58 3f 40 1f 0d 40 68 c2 cf bb 9e 3d db bd 95 2d 8f 3f f6 ca 55 bc ae 3b 1b bd 48 6b 03 bf 4a 7a a6 3c dd 59 0a 3e fe 31 12 bc 19 0c 40 b7 e7 71 1b bc fe 31 12 bc 68 ef 48 3f 41 8f 2b 39 8f 21 47 bd 1b 0c 40 b7 41 8f 2b 39 13 6e 61 3f b2 7b d6 b9 e7 71 1b bc 8f 21 47 bd b5 7b d6 b9 24 6f 01 40 00 00 80 40 39 a0 59 3f 0a 00 00 00 57 aa 61 41 e7 4a df 40 bb a2 8c 3e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 31 c8 e9 3d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 3b e4 41 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 3b e4 41 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa 9d 4a 40 00 00 80 40 ae 47 01 3f 0d 00 00 00 19 5b ee 40 4a d5 66 41 36 5a 10 3e 97 95 54 be 77 4d 8e 3f 80 e4 1c be f2 28 27 3e f0 a8 8b 3f 25 6d 58 bd 2a 31 f8 3d e7 1a 5f bd df 30 b8 38 0e ec 8d bc e7 1a 5f bd 73 47 db 41 5e 84 a5 b9 9e 56 93 be e3 30 b8 38 5e 84 a5 b9 f2 62 ea 41 74 09 ad 3b 0e ec 8d bc 9c 56 93 be 78 09 ad 3b ed 6f 68 40 00 00 80 40 82 53 3b 3f 08 00 00 00 4f 00 00 00 0f 0f 0f 02 02 02 0f 0f 0f 0f 02 ff 00 0f 0f 09 00 ff ff 00 ff ff 00 01 01 0f 0b 11 0b 11 01 01 01 0f 0f 08 06 0b 0b 11 0d 0b 01 01 0f 0f 09 06 08 06 0b 0d 0b 0d 0d 01 01 0f 0e 0e 0e 08 0e 0e 0e 0e 0e 0e 0e 0e 0f 0f 0f 0f 02 02 0f 02 02 00

02 01 04 03 06 05 08 07 01 00 05 03 43 68 0a 00 55 70 63 87 60 0e 00 00 4a 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 04 00 31 7c 06 00 00 00 a0 05 00 00 b7 f5 8c 40 56 05 00 3d 00 00 00 00 00 00 00 00 4a f2 bb 40 0e 50 4d bf 00 00 00 00 00 00 00 00 4a f2 bb 40 ca b9 a2 be 00 00 00 00 00 00 00 00 d0 9b cb 40 0e 50 4d bf 00 00 00 00 00 00 00 00 d0 9b cb 40 5f 15 80 3d 00 00 00 00 00 00 00 00 56 45 db 40 0e 50 4d bf 00 00 00 00 00 00 00 00 56 45 db 40 5f 15 80 3d 00 00 00 00 00 00 00 00 b7 f5 8c 40 5f 15 80 3d 00 00 00 00 14 90 ff 3d 4a f2 bb 40 f0 55 00 3e 00 00 00 00 14 90 ff 3d 4a f2 bb 40 e4 8b 65 bf 00 00 00 00 14 90 ff 3d d0 9b cb 40 86 a8 20 3e 00 00 00 00 14 90 ff 3d d0 9b cb 40 e4 8b 65 bf 00 00 00 00 14 90 ff 3d 56 45 db 40 e4 8b 65 bf 00 00 00 00 14 90 ff 3d 56 45 db 40 a7 24 41 3e 00 00 00 00 14 90 ff 3d b7 f5 0c 41 a7 24 41 3e 00 00 00 00 14 90 ff 3d d0 9b cb 40 e4 8b 65 bf 00 00 00 00 14 90 7f 3e 56 45 db 40 e4 8b 65 bf 00 00 00 00 14 90 7f 3e b7 f5 0c 41 a7 24 41 3e 00 00 00 00 14 90 7f 3e b7 f5 0c 41 33 60 88 3f 00 00 00 00 14 90 7f 3e 7a ca 14 41 a7 24 41 3e 00 00 00 00 14 90 7f 3e b7 f5 0c 41 ad 8a 80 3f 00 00 00 00 0f ac bf 3e b7 f5 0c 41 92 0a 06 3f 00 00 00 00 0f ac bf 3e 62 98 fa 3f ca b9 a2 3e 00 00 00 00 0f ac 3f 3f 3d 9f 1c 40 ca b9 a2 3e 00 00 00 00 0f ac 3f 3f 4a f2 bb 3f ca b9 a2 3e 00 00 00 00 12 9e 5f 3f 62 98 fa 3f ca b9 a2 3e 00 00 00 00 12 9e 5f 3f 3d 9f 1c 40 ca b9 a2 3e 00 00 00 00 12 9e 5f 3f 4a f2 3b 40 29 f8 91 3e 00 00 00 00 12 9e 5f 3f b7 f5 8c 41 ca b9 a2 3e 00 00 00 00 12 9e 5f 3f b7 f5 8c 41 5f 15 80 bd 00 00 00 00 12 9e 5f 3f 19 e0 90 41 29 f8 91 3e 00 00 00 00 12 9e 5f 3f 19 e0 90 41 49 48 c0 bd 00 00 00 00 12 9e 5f 3f 4a f2 bb 3f 29 f8 91 3e 00 00 00 00 14 90 7f 3f 62 98 fa 3f 29 f8 91 3e 00 00 00 00 14 90 7f 3f 3d 9f 1c 40 29 f8 91 3e 00 00 00 00 14 90 7f 3f 4a f2 3b 40 29 f8 91 3e 00 00 00 00 14 90 7f 3f c3 48 2c 41 6c d5 2c bf 00 00 00 00 14 90 7f 3f 86 1d 34 41 2a 41 37 bf 00 00 00 00 14 90 7f 3f 86 1d 34 41 7f 31 d6 3e 00 00 00 00 14 90 7f 3f 93 36 81 41 a0 ef 18 bf 00 00 00 00 14 90 7f 3f f4 20 85 41 a0 ef 18 bf 00 00 00 00 14 90 7f 3f 56 0b 89 41 5f 15 80 bd 00 00 00 00 14 90 7f 3f 56 0b 89 41 92 0a 06 bf 00 00 00 00 14 90 7f 3f b7 f5 8c 41 56 05 00 bd 00 00 00 00 14 90 7f 3f b7 f5 8c 41 21 aa b3 3e 00 00 00 00 14 90 7f 3f 19 e0 90 41 56 05 00 bd 00 00 00 00 14 90 7f 3f 19 e0 90 41 21 aa b3 3e 00 00 00 00 14 90 7f 3f 4a f2 bb 3f 4e 5f 81 3e 00 00 00 00 0b c1 8f 3f 62 98 fa 3f 4e 5f 81 3e 00 00 00 00 0b c1 8f 3f 3d 9f 1c 40 4e 5f 81 3e 00 00 00 00 0b c1 8f 3f f4 20 05 41 86 a8 20 3e 00 00 00 00 0b c1 8f 3f c3 48 2c 41 6c d5 2c bf 00 00 00 00 0b c1 8f 3f c3 48 2c 41 56 05 00 3d 00 00 00 00 0b c1 8f 3f 86 1d 34 41 00 00 00 00 00 00 00 00 0b c1 8f 3f 86 1d 34 41 6c d5 2c bf 00 00 00 00 0b c1 8f 3f 93 36 81 41 a0 ef 18 bf 00 00 00 00 0b c1 8f 3f f4 20 85 41 a0 ef 18 bf 00 00 00 00 0b c1 8f 3f 56 0b 89 41 a0 ef 18 bf 00 00 00 00 0b c1 8f 3f 4a f2 bb 3f 4e 5f 81 3e 00 00 00 00 0c ba 9f 3f 62 98 fa 3f 4e 5f 81 3e 00 00 00 00 0c ba 9f 3f 3d 9f 1c 40 29 f8 91 3e 00 00 00 00 0c ba 9f 3f 4a f2 3b 40 ca b9 a2 3e 00 00 00 00 0c ba 9f 3f 0d c7 43 41 ca b9 a2 3e 00 00 00 00 14 90 ff 3f d0 9b 4b 41 ca b9 a2 3e 00 00 00 00 14 90 ff 3f 00 74 24 41 a7 cf c4 be 00 00 00 00 0c ba 9f bf c3 48 2c 41 a7 cf c4 be 00 00 00 00 0c ba 9f bf 86 1d 34 41 21 aa b3 be 00 00 00 00 0c ba 9f bf 3d 9f 1c 41 94 d7 e7 be 00 00 00 00 0b c1 8f bf 3d 9f 1c 41 6c d5 2c bf 00 00 00 00 0b c1 8f bf 00 74 24 41 94 d7 e7 be 00 00 00 00 0b c1 8f bf c3 48 2c 41 7f 31 d6 be 00 00 00 00 0b c1 8f bf 86 1d 34 41 21 aa b3 be 00 00 00 00 0b c1 8f bf 7a ca 14 41 49 48 c0 3d 00 00 00 00 14 90 7f bf 00 74 24 41 c5 ca f9 be 00 00 00 00 14 90 7f bf c3 48 2c 41 94 d7 e7 be 00 00 00 00 14 90 7f bf 86 1d 34 41 a7 cf c4 be 00 00 00 00 14 90 7f bf 4a f2 bb 40 49 48 c0 3d 00 00 00 00 14 90 7f be 4a f2 bb 40 c5 ca f9 3e 00 00 00 00 14 90 7f be d0 9b cb 40 49 48 c0 3d 00 00 00 00 14 90 7f be d0 9b cb 40 94 d7 e7 3e 00 00 00 00 14 90 7f be 56 45 db 40 5f 15 80 3d 00 00 00 00 14 90 7f be 56 45 db 40 0e 50 4d bf 00 00 00 00 14 90 7f be 4a f2 bb 40 49 48 c0 3d 00 00 00 00 14 90 ff bd d0 9b cb 40 49 48 c0 3d 00 00 00 00 14 90 ff bd d0 9b cb 40 c5 ca f9 3e 00 00 00 00 14 90 ff bd 56 45 db 40 49 48 c0 3d 00 00 00 00 14 90 ff bd 56 45 db 40 0e 50 4d bf 00 00 00 00 14 90 ff bd dc ee ea 40 5f 15 80 3d 00 00 00 00 14 90 ff bd dc ee ea 40 a7 cf c4 3e 00 00 00 00 14 90 ff bd 62 98 fa 40 ca b9 a2 3e 00 00 00 00 14 90 ff bd 09 00 00 00 68 01 00 00 73 00 17 03 dc 00 8d 02 dc 00 8d 02 e7 00 b8 02 e7 00 b8 02 9a 00 e2 02 9a 00 e2 02 67 00 4f 03 c4 00 96 02 c4 00 96 02 c6 00 c2 02 c6 00 c2 02 80 00 f2 02 80 00 f2 02 72 00 10 03 ea 00 92 02 c4 00 b7 02 88 00 f8 02 88 00 f8 02 6f 00 ed 02 8f 00 d4 02 8f 00 d4 02 72 00 e4 02 8d 00 dc 02 7c 00 c0 02 e1 00 c1 02 ec 00 c5 02 ac 00 c8 02 79 00 cc 02 79 00 cc 02 64 00 cd 02 64 00 cd 02 a3 00 bc 02 eb 00 cb 02 de 00 dd 02 89 00 ea 02 7f 00 dd 02 8e 00 ea 02 8e 00 ea 02 79 00 d6 02 8f 00 d3 02 6c 00 d1 02 6c 00 d1 02 84 00 cc 02 84 00 cc 02 72 00 c7 02 72 00 c7 02 a0 00 b5 02 d6 00 ca 02 b9 00 e4 02 66 00 da 02 7a 00 e4 02 7a 00 e4 02 70 00 f2 02 70 00 f2 02 87 00 b6 02 b2 00 b9 02 7c 00 bc 02 8d 00 a6 02 d0 00 b2 02 bf 00 c3 02 6a 00 ce 02 7f 00 a5 02 6b 00 a7 02 a7 00 81 02 bf 00 87 02 a0 00 92 02 99 00 81 02 99 00 81 02 d8 00 89 02 e4 00 94 02 b4 00 a5 02 90 00 7f 02 bd 00 8a 02 c3 00 96 02 82 00 a8 02 f4 00 52 02 f4 00 52 02 0e 01 69 02 0e 01 69 02 e3 00 86 02 e3 00 86 02 30 01 6c 02 40 01 90 02 40 01 90 02 05 01 b8 02 05 01 b8 02 b8 00 ca 02 b8 00 ca 02 87 00 c4 02 07 00 00 00 90 06 00 00 00 00 00 00 1e 93 4c 40 94 ad e2 40 60 fe 9b 28 67 14 25 c0 e3 40 03 40 88 41 8e 29 b2 cb 8f bf 8a d7 ba bf c9 64 6f 29 33 fe 64 3e 32 5b 9b bc 91 98 3a a6 ba 2b 00 bd 32 5b 9b bc a9 44 e3 40 52 33 cc a7 e1 b7 90 bc 91 98 3a a6 52 33 cc a7 3b 98 b8 41 0a c2 ec a6 ba 2b 00 bd ea b7 90 bc 0a c2 ec a6 39 c4 03 3f 00 00 80 40 95 95 e7 3e 02 00 00 00 be 14 8c c0 3d 1e a1 40 2a 20 a6 91 cd f4 34 bf dd c2 cf be 18 40 4e 91 64 a2 12 bf e4 0c 23 bf bc 9d 58 13 2e 51 52 3e 96 98 8e bd 47 79 65 91 6b c5 57 bc 96 98 8e bd 9d ef bc 40 38 1f 60 92 b8 02 23 be 47 79 65 91 3a 1f 60 92 94 ca ce 42 33 f2 c8 91 6d c5 57 bc b5 02 23 be 49 f2 c8 91 83 9f ea 3f 00 00 80 40 9c f9 64 3f 03 00 00 00 78 70 4b c1 59 3d 85 41 4f b1 3d 22 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 68 7c 82 3e 64 d1 55 bd bf 9b b3 a2 b9 ff 6d bd 5f d1 55 bd 7f b5 26 42 6f 91 6f 24 ec c4 2f bf be 9b b3 a2 70 91 6f 24 40 3f b5 42 b8 6f f7 a2 c3 ff 6d bd 06 c5 2f bf bb 6f f7 a2 db 43 a8 40 00 00 80 40 f6 14 6c 3f 05 00 00 00 74 e3 e7 c0 8a 1e 44 40 c5 f2 0b 14 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ef 3c 36 3e 63 3d a8 3c d3 27 89 15 f5 4d 29 bc 60 3d a8 3c a3 2b f0 40 d3 bc 35 13 6a 7c 4f 3d d3 27 89 15 d2 bc 35 13 13 7b ad 42 f4 3c 2a 95 f3 4d 29 bc 6e 7c 4f 3d f4 3c 2a 95 7c f6 6e 3f 00 00 80 40 6e eb 0f 3f 06 00 00 00 62 c4 b5 40 36 fb 2f 41 ac ac 2b 2d ba d6 7e be 9c a3 ee 3f 2b ad df 2d 3f ea e8 be 0e 26 92 3f 36 01 66 2d ef 25 f8 3d ab bf b9 bc cd 72 ab 2b 14 33 5a bb aa bf b9 bc 37 e2 5d 41 72 17 04 2c b1 c2 b0 bc ce 72 ab 2b 75 17 04 2c 44 fa 23 42 ad 94 68 aa 18 33 5a bb b4 c2 b0 bc a7 94 68 aa 47 04 00 3e 00 00 80 40 50 ee 58 3f 07 00 00 00 50 a4 3d c1 3e 7a 1e 41 97 4d 6e a4 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 0a 37 05 3e c8 d9 7e bd 43 e5 43 a4 2e 0a c8 bb ca d9 7e bd 9f bd 4f 42 45 88 75 a5 ab 6d 0e 3d 43 e5 43 a4 48 88 75 a5 98 3a 88 42 57 32 ec 23 2b 0a c8 bb b6 6d 0e 3d 57 32 ec 23 4b c9 4e 3f 00 00 80 40 86 f6 4d 3f 09 00 00 00 56 15 e9 3d dc 14 03 41 b4 0f a7 29 5d cd 93 3f 98 0d 8f 3f ea 25 a2 2a 29 aa 6a 3f 2c 43 6d 3f fa 85 e2 2a c1 2b b4 3d a0 0c b4 bd 50 d9 9e a8 a0 f8 bd bc a0 0c b4 bd 33 aa dc 40 44 03 23 2a 28 82 52 be 51 d9 9e a8 46 03 23 2a 70 c7 43 42 6f a9 50 a9 a0 f8 bd bc 28 82 52 be 6f a9 50 a9 80 bb 78 3f 00 00 80 40 03 04 30 3f 0b 00 00 00 b4 16 27 c1 5e 3e 6a 41 22 1e 17 36 fa 50 2c c0 e2 c2 f8 be 9a 91 12 37 e6 ef 8f bf 90 b6 75 be 83 ef 92 36 35 8d 29 3e 05 15 db bc ef c1 dc 33 2c 07 e9 bb 07 15 db bc f8 96 17 42 d9 f2 d8 b4 4e f6 1f bc ef c1 dc 33 db f2 d8 b4 c5 da 7a 42 9c f7 31 b4 2e 07 e9 bb ae f5 1f bc aa f7 31 b4 5a ef bb 3f 00 00 80 40 c7 5a 67 3f 0e 00 00 00 f4 4e 9f c0 89 24 17 41 b6 70 03 2a 41 f3 ba 3f c2 54 22 3d d6 71 f9 2a 7e 90 f3 3e 74 73 14 3e 1b 65 b3 aa 36 96 81 3e f4 f3 84 bd 57 d3 38 a9 8a ad 16 bc f4 f3 84 bd 3b eb 92 41 52 14 f9 28 35 50 cc bd 58 d3 38 a9 52 14 f9 28 88 1b 4c 42 a5 c4 b6 a7 8a ad 16 bc 33 50 cc bd a7 c4 b6 a7 87 1f b2 3e 00 00 80 40 77 95 73 3f 0f 00 00 00 11 d1 10 40 d8 7f 9a 40 5a 4c 31 30 4a f6 2f bf 77 5f 1e 3f 80 e8 f3 ac 57 68 4c bf 50 72 41 3f 82 29 62 b0 1b 6c 1e 3e d2 53 b3 bc 61 b8 f6 ac ef d0 2a bd d1 53 b3 bc 46 f8 7a 40 44 35 a1 2d a4 d4 48 3d 62 b8 f6 ac 46 35 a1 2d 6b 70 8e 41 ce b8 b4 2e ed d0 2a bd 9e d4 48 3d c5 b8 b4 2e bf fe 39 40 00 00 80 40 ea 26 0c 3f 11 00 00 00 51 fa 41 be 43 ef 93 41 ee be f7 b8 33 f9 5f 3f ce 35 65 3f 21 45 c8 b9 7a 64 24 3f 01 cb ef 3f c2 10 c7 b9 55 e6 44 3e 95 ed 1f be 8d 71 ea b7 3d 70 fa bc 95 ed 1f be 41 28 05 42 f6 22 2f b8 b6 43 24 bf 8c 71 ea b7 f6 22 2f b8 b6 01 1e 42 c2 a8 91 38 3d 70 fa bc b6 43 24 bf c2 a8 91 38 bf 63 63 40 00 00 80 40 c1 dd 7d 3f 08 00 00 00 ea 36 99 3e 27 7b 3b 41 71 24 28 ba d2 d9 7d 3e cc 2c 6f 3e 90 cb 8e 3b cc 61 34 3e c7 c6 b6 3e c8 3a 52 3b b5 78 0a 3e 60 69 a1 bc 8d 8a 37 b9 b3 37 95 bb 62 69 a1 bc 03 a7 74 41 5e 6d c4 39 de a8 39 bd 8f 8a 37 b9 5c 6d c4 39 a6 ed 86 41 f9 75 d0 b8 b4 37 95 bb de a8 39 bd fa 75 d0 b8 c7 ae 26 3e 00 00 80 40 74 0b 2c 3f 01 00 00 00 b5 cc 4d 3f d9 cf 14 40 b6 d7 ad bb d5 2c 3c be 37 87 8f 3f c4 8d d0 bb 06 49 e3 bd fe 46 c3 be f6 9d cd 3c 9f 41 0c 3e b6 a4 6b bb 2f 11 48 b7 6b b5 22 bc b8 a4 6b bb a9 cf 5a 3f 17 8b 13 39 97 ba 1f bd 32 11 48 b7 17 8b 13 39 f8 60 65 3f c2 60 57 b9 6b b5 22 bc 99 ba 1f bd b8 60 57 b9 a2 8f 03 40 00 00 80 40 cd a9 50 3f 0a 00 00 00 57 aa 61 41 e7 4a df 40 bb a2 8c 3e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 31 c8 e9 3d 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 3b e4 41 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 3b e4 41 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 fa 9d 4a 40 00 00 80 40 ae 47 01 3f 0d 00 00 00 46 01 e8 40 7e 30 6a 41 43 1a e9 3d 55 aa 04 bf 0a 44 af 3f 63 3e 37 be 44 3f ed bd 6c c8 92 3f 1f 69 8b bd b8 ff fc 3d 18 2f 26 bd 47 b1 19 39 c2 cd 77 bc 19 2f 26 bd ab 6c df 41 e9 28 f1 b8 81 00 1b be 44 b1 19 39 ad 28 f1 b8 87 ff ea 41 a4 10 21 3c c3 cd 77 bc 79 00 1b be a2 10 21 3c ed 37 60 40 00 00 80 40 8f 31 42 3f 08 00 00 00 5a 00 00 00 0f 02 02 02 0f 02 0f 0f 0f 02 0f 02 02 0f 09 02 02 09 ff 09 ff 00 01 0f 01 01 0f 0f 0d 11 ff 11 01 01 0f 0f 0e 0e 06 0b 0b 11 0b 11 0d 11 0d 01 01 0f 09 0e 09 08 0e 0b 0b 0b 01 01 0f 0f 06 06 0e 0e 0e 0e 0e 0e 0e 0e 08 0e 0e 0e 0f 0f 0f 0f 0f 02 0f 0f 0f 0f 02 09 00 00 00 00 00 00 68 df 01 08 80 7c 02 00 bc e0 01 08 0f 00 01 00 80 57 00 08 5a 00

We know that some of the TLV8 points maybe be not classified and marked as 254 or 255.
But as you can see in both of the frames examples, there is no match between the TLV6 and TLV8.

Thanks,
Avi

Hi Avi,

Can you share the parsed data for consecutive frames? Is there anything being tracked during these frames? Do you see this behavior for all frames? Does the pointcloud and tracking data appear to match the relative location of the tracked objects?

Regards,

Jackson

Hi Jackson,

We ran several tests of people counting lab.
The first two 3D people counting with 6m and 14m are working fine, and we can see the match with the TLV 6 and TLV 8.
However, the case is different when we run the test on the long-range people detection with the 50-meter chirp.
In this scenario, there is no match between TLV 6 and TLV 8.
Attached is the output frame data of this run.frames.txt
An object is detected and tracked in this frame log, and the data that appear is a match to the relative location of the tracked object.
And yet, we are getting a mismatch between the total of TLV 6 and TLV 8.
Please advise what could be the reason for the inconsistency.

Thanks,
Avi

Hi Avi, 

Thanks for sending the logs. We will take a look at it and get back to you. 

Regards, 

Sudharshan K N