IWR6843ISK-ODS: Modifying rospkg to work 3d People counting

the scattered pointcloud when I include z axis 3d

when z axis is excluded 2d

After I finished modifying ROS to make it work for 3D people counting. When I launch the sensor for 3D people counting demo, and plot it on the Rviz window, the points cloud is scattered.

I used the following cfg parameters:

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 60.75 30.00 25.00 59.10 657930 0 54.71 1 96 2950.00 2 1 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 96 0 55.0 1 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5.00 8.00 0.40 1 1
dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00
staticRangeAngleCfg -1 0 8 8
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
antGeometry0 0 0 -1 -1 -2 -2 -3 -3 -2 -2 -3 -3
antGeometry1 0 -1 -1 0 0 -1 -1 0 -2 -3 -3 -2
antPhaseRot 1 -1 -1 1 1 -1 -1 1 1 -1 -1 1
fovCfg -1 70.0 20.0
compRangeBiasAndRxChanPhase 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
staticBoundaryBox -3 3 2 6 0 3
boundaryBox -4 4 0 8 0 3
sensorPosition 1 0 15
gatingParam 3 2 2 2 4
stateParam 3 3 6 500 5 6000
allocationParam 40 100 0.1 20 0.5 20
maxAcceleration 0.1 0.1 0.1
presenceBoundaryBox -4 4 0.5 6 0 3
trackingCfg 1 2 800 30 46 96 55.0
sensorStart

Please I need guidance and suggestions on how to make my points cloud look better ( not scattered) in order to detect humans.