When I test automotive lab demo: lab0007_medium_range_radar, I found the static objects in short range are not displayed in GUI tool MRR visualizer.
The objects are displayed only when they are moving. It seem this demo cannot detect the static objects in short range.
I would like to know:
1) Can lab demo MRR detect the short range static objects?
2) Is it possible to modify mrr demo to detect short range static objects?
Kind regards
Hi,
I suspect that this comes from the range based pruning functionality in MRR (refer to function rangeBasedPruning in dss_data_path.c). This function prunes the CFAR detection list. The heuristic it uses for this is that detections closer to the radar need to have a higher threshold to be included. If this is not the case, the function removes these detections from consideration. It also removes any detections that are closer than the 'minRange' parameter. See this:
This function was implemented to reduce/remove ground clutter, and I believe it is directly causing the behavior you observe, as it was intended to do so.
Could you try bypassing this function and seeing if that makes a difference? You will have to comment out the function call, and add a statement that pass detObj2DRaw to detObj2D.
Also note that the tracker output will always only exist for moving targets.
Regards,
Aayush
