IWR6843ISK-ODS: Denser 3d point cloud visualization

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 36
chirpCfg 0 0 0 0 0 0 0 3
chirpCfg 1 1 0 0 0 0 0 3
chirpCfg 2 2 0 0 0 0 0 4
bpmCfg -1 1 0 1
frameCfg 0 2 96 0 55.0 1 0
% *************DETECTION LAYER PARAMETERS ***********************
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5 9 0.40 1 1
dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00
staticRangeAngleCfg -1 0 8 2
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
fineMotionCfg -1 0
% ************* BOARD REALTED PARAMETERS ************************
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
% ************* TRACKING LAYER PARATMETERS **********************
staticBoundaryBox -3 3 1 6 0 3
boundaryBox -4 4 0 8 0 3
sensorPosition 2 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 -4 4 0.5 2.5
trackingCfg 1 2 800 30 46 96 55.0

this is my configuration file

Hi Abdullahi,

I noticed in the video filmed outside there was larger motion in a given direction compared to the indoor video where the person seemed to be walking around in a smaller area back and forth which may have lead to stronger point cloud in the outside scenario. Indoors there can also be more reflections or noise being in an enclosed space. 

You can look at the following documentation that describes the various parameters you can change such as the SNR thresholds that can impact number of points. 

The following snippet is from pg. 27 of the Detection Layer Parameter Tuning Guide which can be found here. 

<mmwave_industrial_toolbox_location>/labs/people_counting/docs/3D_people_counting_detection_layer_tuning_guide.pdf

This is another user guide dealing with tracker tuning layer that may be useful. 

<mmwave_industrial_toolbox_location>/labs/people_counting/docs/3D_people_counting_tracker_layer_tuning_guide.pdf

Please see the following older e2e post as well that may be related to this issue. https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1028114/iwr6843-point-cloud-snr-differs-depending-on-direction-of-motion/3804744?tisearch=e2e-sitesearch&keymatch=iwr6843%2520point%2520cloud%2520density#3804744

Thanks,

Alex Chan