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AWR1843: the collected 3d point cloud data is too sparse to distinguish the target shape, which is much different from the effect of the TI official demo

xiaochen wang
Prodigy 20 points
Part Number: AWR1843

I have an AWR 1843 mmwave radar sensor and try to obtain 3d point clouds by runing the ROS package of "ti_mmwave_rospkg" in ubuntu 18.04. Although AWR 1843 can successfully work with ROS together, the quality of point cloud data is poor. As shown in the following figure, we can't distinguish objects from point clouds data at all which looks like a few chaotic points.

However, the TI official demo can achieve better results than me, as shown in the following figure:

We can even identify the legs of the experimenter during movement. It can be seen in this link: 

https://training.ti.com/point-cloud-visualization-robotics-using-tis-mmwave-sensor?keyMatch=POINT%20CLOUD&_ticdt=MTY0MTU2MzYxNnwwMTdlMWFkZjk1NTQwMDE4NDZlMjU5M2E1NjEyMDMwNjgwMDE2MDYwMDBmYjh8R0ExLjMuMTI2Njc5MTE2Ny4xNjQxMTI4MzY4

I have use the default parameters in the .cfg file. Why does this different phenomenon occur?

Can someone explain it for me, and what should i do to obtain more points of object to achieve the effect in TI official demo.

  • 0
    TI__Guru*** 148594 points

    Hi,

    As mentioned in the video the point cloud is accumulated over a quarter of a second time period.

    This is he first thing you should configure in ROS.

    You can also try to lower the CFAR threshold in the configuration.

    What is the .cfg that you have used? profile_3d.cfg?

    C:\ti\mmwave_sdk_03_05_00_04\packages\ti\demo\xwr18xx\mmw\profiles

    thank you

    Cesar

  • 0 in reply to Cesar
    Prodigy 20 points

    Thanks, Cesar.

    1) I'm still a beginner in ROS, What should I do to accumulate the point clouds data in a quarter of a second time period?

    2) How can I reduce the CFAR threshold in the configuration? Here have two "cfarCfg" and two "cfarFovCfg" in .cfg file.

    cfarCfg -1 0 2 8 4 3 0 15 1
    cfarCfg -1 1 0 4 2 3 1 15 1

    cfarFovCfg -1 0 0 8.92
    cfarFovCfg -1 1 -1 1.00

    3) The .cfg which I used is $(find ti_mmwave_rospkg)/cfg/1843_3d.cfg. The path in my ubuntu os is "/home/xiaochen/workspace/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/1843_3d.cfg"

    % ***************************************************************
    % Created for SDK ver:03.03
    % Created using Visualizer ver:3.3.0.0
    % Frequency:77
    % Platform:xWR18xx
    % Scene Classifier:best_range_res
    % Azimuth Resolution(deg):15 + Elevation
    % Range Resolution(m):0.044
    % Maximum unambiguous Range(m):9.02
    % Maximum Radial Velocity(m/s):1
    % Radial velocity resolution(m/s):0.13
    % Frame Duration(msec):100
    % Range Detection Threshold (dB):15
    % Doppler Detection Threshold (dB):15
    % Range Peak Grouping:enabled
    % Doppler Peak Grouping:enabled
    % Static clutter removal:disabled
    % Angle of Arrival FoV: Full FoV
    % Range FoV: Full FoV
    % Doppler FoV: Full FoV
    % ***************************************************************
    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 4
    chirpCfg 2 2 0 0 0 0 0 2
    frameCfg 0 2 16 0 100 1 0
    lowPower 0 0
    guiMonitor -1 1 1 0 0 0 1
    cfarCfg -1 0 2 8 4 3 0 15 1
    cfarCfg -1 1 0 4 2 3 1 15 1
    multiObjBeamForming -1 1 0.5
    clutterRemoval -1 0
    calibDcRangeSig -1 0 -5 8 256
    extendedMaxVelocity -1 0
    lvdsStreamCfg -1 0 0 0
    compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    CQRxSatMonitor 0 3 5 121 0
    CQSigImgMonitor 0 127 4
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 8.92
    cfarFovCfg -1 1 -1 1.00
    calibData 0 0 0
    sensorStart

  • 0 in reply to Cesar
    Prodigy 20 points

    Hi, Cesar,

    After the experiment, I summed up some questions.

    4) Can you help me understand the meaning and usage of attributes  in the .cfg file? Or, is there any explanation document for .cfg file?

    5) I know the last two values of "cfarCfg" in .cfg file is represent:

    cfarCfg -1 0 2 8 4 3 0 15 1
    cfarCfg -1 1 0 4 2 3 1 15 1

    % Range Detection Threshold (dB):15
    % Doppler Detection Threshold (dB):15
    % Range Peak Grouping:enabled
    % Doppler Peak Grouping:enabled

    So, as you mentioned, I try to lower the value of CFAR threshold and no grouping. Then the "cfarCfg" have been changed as:

    cfarCfg -1 0 2 8 4 3 0 12 0
    cfarCfg -1 1 0 4 2 3 1 12 0

    It did work, I can capture more points in RVIZ. However, these points jump back and forth which looks like the noise, especially if the object is moving. 


    Sincerely look forward to your answer!

    thank you

  • +1 in reply to xiaochen wang
    TI__Guru*** 148594 points

    Hi,

    The meaning of the commands in the .cfg is documented in the mmWave SDK user guide

    C:\ti\mmwave_sdk_03_05_00_04\docs\mmwave_sdk_user_guide.pdf

    Yes, if the CFAR threshold is lowered the "noise" is expected to increase. This the reason why you should only decrease it as a last resort. Also you should try one decreasing it progressively.

    For ROS questions, unfortunately the person who developed the gui in the video is no longer available for support and our team does not have much knowledge.

    There is an ROS community. Please reach to their forums for support

    http://wiki.ros.org/Support

    Thank you

    Cesar

  • 0 in reply to Cesar
    Prodigy 20 points

    Thank you, Cesar.

    This solved most of my problems.