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IWR6843ISK-ODS: Best cfg parameter for 3D people Counting

Abdullahi Oyero
Prodigy 210 points
Part Number: IWR6843ISK-ODS

Hello,

I am using an IWR6843ISK-ODS sensor, and I have modified the ROS package to become compatible with 3D people counting demo.

This is my cfg parameter:

sensorStop
flushCfg
% STANDARD MMWAVE SDK COMMANDS*
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 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
% ****DETECTION LAYER PARAMETERS ********
dynamicRACfarCfg -1 4 4 2 4 8 16 4 4 5.00 11 0.50 1 1
staticRACfarCfg -1 4 4 2 4 8 16 4 6 8.00 13.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00
staticRangeAngleCfg -1 0 8 4

% ***** 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 2 6 0 3
boundaryBox -4 4 0 8 0 3
sensorPosition 2 0 10
gatingParam 3 2 2 2 4
stateParam 3 3 10 500 5 6000
allocationParam 100 400 0.1 20 0.5 20
maxAcceleration 0.1 0.1 0.1
presenceBoundaryBox -4 4 0.5 6 0 3
trackingCfg 1 2 250 20 46 96 55.0
sensorStart

But, I am not satisfied with the output ( point cloud ), since there are a few scattered points. Also, the number of the points cloud is not more dense. So, please, is there any suggested cfg file ( rather than wall-mount or ceil-mount ) that I can test my system with? Or is there any change in my cfg to make my output look better? 

Regards ,

Abdullahi

  • +1
    TI__Genius 14415 points

    Hello,

    Please see the following guide for tuning the parameters of the demo. FOr more points in the point cloud, you can lower the CFAR thresholds. 

    Detection Layer Parameter Tuning Guide for the 3D People Counting Demo – Rev 1.0

    Regards,

    Jackson

  • +1 in reply to Jackson Thomas
    Prodigy 210 points

    hey jackson,I tried increasing the <anglethres> and <rangehres> but it does seem to have any Impact

    which parameter do I have to change 

    here 

    dynamicRACfarCfg -1 4 4 2 4 8 16 4 4 5.00 11 0.50 1 1

    please help me to indicate

    regards Abdullahi

  • 0 in reply to Abdullahi Oyero
    TI__Genius 14415 points

    Hello Abdullahi,

    Those are the best parameters to modify, but you will actually want to decrease the thresholds in order to get more points in the point cloud. You can also try increasing the TX power, this is in the profileCfg command. If you reduce the TxOutPowerBackoff to 0, this will operate at max output power (the previous value was 657930 corresponding to a 5dB backoff for each antenna)

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 210 points

    Hello Jackson,

    I changed my cfg parameters as you suggested:

    by reducing the TxOutPowerBackoff to 0. But no thing change for my output ? Is there any specific value you suggest? 

    profileCfg 0 60.75 30.00 25.00 59.10 0 0 54.71 1 96 2950.00 2 1 36

    In addition, you mentioned I have to decrease the thresholds in order to get more points in the point cloud. Did you mean in allocationParam:

    I changed the first two values. But there is no more points observe ? 

    allocationParam 40 100 0.1 20 0.5 20

    Is there any specific values you suggest for those two values to test it ? 

  • 0 in reply to Abdullahi Oyero
    TI__Genius 14415 points

    No, the range and angle threshold in the CFAR parameters. You said before you increased them. To see more points in the pointcloud, these should be decreased.

    dynamicRACfarCfg -1 4 4 2 4 8 16 4 4 5.00 11 0.50 1 1

    Regards,

    Jackson

  • 0 in reply to Jackson Thomas
    Prodigy 210 points

    Ok. How about what you said ( You can also try increasing the TX power, this is in the profileCfg command. If you reduce the TxOutPowerBackoff to 0, this will operate at max output power (the previous value was 657930 corresponding to a 5dB backoff for each antenna)?

    What did you mean by that? Do you mean as I changed here below. 

    profileCfg 0 60.75 30.00 25.00 59.10 0 0 54.71 1 96 2950.00 2 1 36

    I replaced the value of 657930 by value of 0. But, I don't see any impact on my output ? Is there any specific value you suggest? 

  • 0 in reply to Abdullahi Oyero
    Prodigy 210 points

    Aslo, I have played with the first two values in:

    allocationParam 40 100 0.1 20 0.5 20

    Also, I don't see any improve ? What do you suggest with these two values ?