IWR6843ISK: Generating and optimizing point cloud data with mmWave sensors

Hi,

1. There are a few knobs you can look at.
   1. If this is operating in an enclosed area, you may get fewer reflections by applying some txBackoff in order to lower the TX power. This is part of the profilecfg CLI command, and it is formatted as a bitmask for each of the three antennas, and txBackoff must be applied in 3 db steps. Some example values are below
      . Please note, this can result in fewer detections, so you may have to try a few values to find one which minimizes false detections without overly reducing the real detections.
      1. 197379= 0x00030303 which indicates a backoff of 3db on each tx Antenna
      2. 394758=0x00060606 which indicates a backoff of 6db on each tx Antenna
   2. You can increase the CFAR threshold, which is part of the cfarCfg cli command
2. The area scanner demo is an evolution of the Out of Box Demo, which utilizes Bartlett beamforming. I would recommend you first review the documentation on the algorithm used for the Out of Box Demo, which is provided in the mmWave SDK. For Area Scanner, the static detection processing and group tracking processing is then added on top.
   1. The group tracker documentation can be found at <SDK_Install_Dir>/mmwave_sdk_03_05_00_04\packages\ti\alg\gtrack\docs
   2. Some additional description of the static detection processing can be found at <toolbox_install_dir>\mmwave_industrial_toolbox_4_11_0\labs\Area_Scanner\docs\static_detection_cli_commands.html
3. This is tricky. If you are referring to them being close enough that group tracking is clumping them together, you can try to tune the group tracker by referring to the documentation in the people counting folder of the industrial toolbox, or you can add logic to your application which pays attention to how many people enter/exit the clump.
4. I would say this sort of depends on what view you are looking for, depending on the background of you/your team.  
   1. If you are looking to understand the algorithm side of things, I would recommend you take a look at the videos here: https://training.ti.com/mmwave-training-series
   2. If you are looking to understand the software side of things, the documentation for the Out of Box Demo is the best place to start, as it has some detailed flowcharts for how the processing is done. This can be found at <SDK_Install_Dir>/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html

Let me know if you have further questions.

Best Regards,
Alec

Okay thanks Alec. Appreciate the information and help. Cheers.