IWR6843AOPEVM: Extracting dimensions from Gtrack Output through UART Terminal and view the dimensions in the python visualizer

The code for outputting the dimensions are already present. However teh section of the code is commented out. In the overhead tracker demo the values are populated as below - ti\mmwave_industrial_toolbox_4_7_0\labs\common\src\dpu\trackerproc_overhead\src\trackerproc_3d.c

//targetList[n].dimX = targetDescr[n].dim[0];
//targetList[n].dimY = targetDescr[n].dim[1];
//targetList[n].dimZ = targetDescr[n].dim[2];

The measurement spread is updated in gtrack_unitUpdate() [C:\ti\mmwave_industrial_toolbox_4_7_0\labs\common\src\dpu\trackerproc_overhead\packages\ti\alg\gtrack\src\gtrack_unit_update.c].
The dimensions represent the spread around the centroid as below.

/* Update measurement spread if we have 2 or more good points */
if(myGoodPointNum > 1) {
for(m = 0; m < MSIZE; m++) {
spread = u_max[m] - u_min[m];
/* Unbiased spread estimation */
spread = spread*(myGoodPointNum+1)/(myGoodPointNum-1);
/* computed spread extimation shall be between 1x and 2x of configured limits */
if(spread > 2*inst->H_limits.array[m])
spread = 2*inst->H_limits.array[m];
if(spread < inst->H_limits.array[m])
spread = inst->H_limits.array[m];

if(spread > inst->estSpread.array[m])
inst->estSpread.array[m] = spread;
else {
inst->estSpread.array[m] = (1.0f-inst->estSpreadAlpha)*inst->estSpread.array[m] + inst->estSpreadAlpha*spread;
}
}
gtrack_calcDim(inst->estSpread.array, inst->uCenter.vector.range, inst->estDim);
}

This represents the dimensions of the object based on the spread of the points.

Regards, 

Sudharshan K N 

Hi, 

May said:

1. I am currently working with the 3D_People count wall mount demo and not the overhead one. Will the trackerproc_3d be invoked directly by the Gtrack algorithm in the 3D_People count wall mount demo as well ?

In the 3D wall mount demo also uses the same overhead tracker. Please refer to ti\mmwave_industrial_toolbox_4_7_0\labs\people_counting\68xx_3D_people_counting\src\68xx_3D_people_count_mss.projectspec

-I${COM_TI_MMWAVE_SDK_INSTALL_DIR}/packages/ti/alg/gtrack/lib
-I${PC_PARENT_DIR}/common/src/dpu/trackerproc_overhead/lib
-llibosal_xwr68xx.aer4f
-llibesm_xwr68xx.aer4f

For the second question the answer is yes. The TLV length will be updated as per the packet that is created. 

Also here is some additional information From our expert on the usefulness of this dim values to approximate the detected object 

This information can give us some idea about the target size but does not always reflect the physical dimensions.

The spread parameter gives the distance between the max and min locations of all the associated points of a specific target. In the x-y domain, this information may reflect the target size in general. However, there are some cases where this data and the target size do not match. For example, when a person is sleeping, only a few points will be associated with the target around the torso (due to breathing), and the point cloud spread will be very small than the actual size. Besides, this information will be less accurate in the z domain (elevation) when the ISK type of antenna pattern is being used.

Instead of looking at a single-frame snapshot, creating a multiple-frame window and look this spread data in the cumulative point cloud (across multiple frames). This approach can improve accuracy.

Regards, 

Sudharshan K N 

Hi,

Sorry for the delay. I think i understand where the confusion is coming from.

The changes that were proposed is indeed correct. However the steps to include these changes vary based on the demo that is being used within the 3D people counting. All the demos use the same file \labs\common\src\dpu\trackerproc_overhead\src\trackerproc_3d.c file as mentioned in the earlier responses.

The labs demo \labs\people_counting\68xx_3D_people_counting, uses the complied lib. This can be seen in the project spec file 68xx_3D_people_count_mss.projectspec
-llibtrackerproc_xwr68xx.aer4f

In order to get the changes recommended to be compiled into the code the customer first need to
- rebuild the llibtrackerproc_xwr68xx.aer4f lib
- rebuild the project again

This should get the changes included. Alternatively they can include the trackerproc_3d.c into the project (along with the dependency files), make recommended changes and then we should be able to see the output.

As an example in \labs\people_counting\overhead_3d_people_counting demo, the trackerproc_3d.c is directly included into the project. Here the additional steps of building the library is not needed. However the structure trackerProc_Target (trackerproc.h) doesnt have the members to store DIMs. The structure can be modified to include the additional needed variables. An example is shown below

/*! @brief tracking ID */
uint32_t tid;
/*! @brief Detected target X coordinate, in m */
float posX;
/*! @brief Detected target Y coordinate, in m */
float posY;
/*! @brief Detected target Z coordinate, in m */
float posZ;
/*! @brief Detected target X velocity, in m/s */
float velX;
/*! @brief Detected target Y velocity, in m/s */
float velY;
/*! @brief Detected target Z velocity, in m/s */
float velZ;
/*! @brief Detected target X acceleration, in m/s2 */
float accX;
/*! @brief Detected target Y acceleration, in m/s2 */
float accY;
/*! @brief Detected target Z acceleration, in m/s2 */
float accZ;
/*! @brief Target Error covarience matrix, [4x4 float], in row major order, range, azimuth, elev, doppler */
float ec[16];
/*! @brief Gating function gain */
float g;
/*! @brief Tracker confidence metric*/
float confidenceLevel;
/*! @brief Detected target X dimensions, in m */
float dimX;
/*! @brief Detected target Y dimensions, in m */
float dimY;
/*! @brief Detected target Z dimensions, in m */
float dimZ;

#endif
} trackerProc_Target;

The same code changes recommended earlier to the file trackerproc_3D.c apply.

for(n=0; n<tNum; n++) {
     targetList[n].tid = (uint32_t)targetDescr[n].uid;
     targetList[n].posX = targetDescr[n].S[0];
     targetList[n].posY = targetDescr[n].S[1];
     targetList[n].posZ = targetDescr[n].S[2];
targetList[n].velX = targetDescr[n].S[3];
targetList[n].velY = targetDescr[n].S[4];
targetList[n].velZ = targetDescr[n].S[5];
targetList[n].accX = targetDescr[n].S[6];
targetList[n].accY = targetDescr[n].S[7];
targetList[n].accZ = targetDescr[n].S[8];
targetList[n].dimX = targetDescr[n].dim[0];
targetList[n].dimY = targetDescr[n].dim[1];
targetList[n].dimZ = targetDescr[n].dim[2];

memcpy(targetList[n].ec, targetDescr[n].EC, sizeof(targetDescr[n].EC));
targetList[n].g = targetDescr[n].G;

To verify the changes I printed the DIMs to the console and i can see them getting populated. However I haven't modified the GUI test to get them out. Hope this helps.

Regards,
Sudharshan K N

Hi, 

Sudharshan KN said:

\labs\people_counting\overhead_3d_people_counting demo, the trackerproc_3d.c is directly included into the project.

Is this reference not enough to do the changes? Please let me know. 

May said:

I am trying to print the DIMs variable into the console window of CCS to check if they are getting populated when the program is running. It would be helpful if you could provide some information regarding this issue

The following lines of code can be added to the code to get the printouts of the DIMs. 

/* BIOS/XDC Include Files. */
#include <xdc/runtime/System.h>

targetList[n].dimX = targetDescr[n].dim[0];
targetList[n].dimY = targetDescr[n].dim[1];
targetList[n].dimZ = targetDescr[n].dim[2];

memcpy(targetList[n].ec, targetDescr[n].EC, sizeof(targetDescr[n].EC));
targetList[n].g = targetDescr[n].G;

targetList[n].confidenceLevel = targetDescr[n].confidenceLevel;

System_printf ("Dims: x:%f,y:%f,z:%f\n",targetList[n].dimX,targetList[n].dimY,targetList[n].dimZ);

Regards, 

Sudharshan K N