IWR1843BOOST: ROS: increasing points in point cloud

Adithya Sunil Edakkadan

Part Number: IWR1843BOOST

Hi,

I am currently using the TI mmWave ROS package with the demo code and launches provided to generate point clouds but what I am observing is that it captures only 4-5 points in a single instant. Is there a way to increase the number of points being collected?

Thank you
Regards,
Adithya

over 3 years ago

+1 Pedrhom Nafisi over 3 years ago

TI__Mastermind 23617 points

Hello Adithya,

This can be done by changing the cfg file that is sent to the device when running he TI mmWave ROS package. When you go to mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/, you will see a list of premade default cfg files for different devices. You can edit the cfg file of the device that you are using and change parameters in order to change the sensor's performance. For this I will give you two documents that can help editing our chirp parameters:

https://www.ti.com/lit/an/swra553a/swra553a.pdf?ts=1651762460279 Chirp Programming Guide

https://dr-download.ti.com/software-development/software-development-kit-sdk/MD-PIrUeCYr3X/03.06.00.00-LTS/mmwave_sdk_user_guide.pdf SDK User Guide

In the SDK User guide you can find all the parameters within a cfg and what each parameter and number corresponds to. For more point clouds to be printed, I would recommend looking specifically at profileCfg, cfarCfg, and frameCfg.

Best Regards,

Pedrhom Nafisi

0 Adithya Sunil Edakkadan over 3 years ago in reply to Pedrhom Nafisi

Prodigy 50 points

Hi Pedrhom,

Can you please elaborate on how the number of points depends on these configurations? I understand that the points may be decreased due to peak grouping and CFAR but how should I avoid that without risking the detection of background objects or noise? Also if I am looking to accurately model the surface of an object what configurations should I use such that my obtained point cloud is accurate and has enough points(>100) to do the same?

Thank you
Regards,
Adithya

0 Pedrhom Nafisi over 3 years ago in reply to Adithya Sunil Edakkadan

TI__Mastermind 23617 points

Hello Adithya,

Modeling an object with over 100 points with a single radar chip may be very difficult to accomplish. There is a tradeoff between sensitivity and too much noise and you will need to find the right threshold for your project as it is a case by case scenario. There is not a configuration that works for all cases, so it will involve a lot of data collection with fine tuning via configuration files.

Best Regards,

Pedrhom Nafisi

0 Adithya Sunil Edakkadan over 3 years ago in reply to Pedrhom Nafisi

Prodigy 50 points

Hi Pedrhom,

Okay, I get it now. Thank you for the explanation.

Regards,
Adithya

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IWR1843BOOST: ROS: increasing points in point cloud