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AWR6843AOPEVM: Area Scanner: Wrong extracted point cloud data compare to the GUI results

Shihyu Hung
Intellectual 260 points
Part Number: AWR6843AOPEVM

Hi, TI team,

I'm running the Area Scanner toolbox with my AWR6843AoPEVM, and trying to extract the point cloud data according to the TLV format describe in "68xx Area Scanner Lab User's Guide".

But after coding and successfully extract all dynamic, static objects' point cloud in each frame, I found that those can not coincide to the position shown on GUI, following figures are my programmed codes and the results:

Matlab codes:

Results for comparison:

(My results:)

(GUI:)

I find that for static objects, x value is the same, but y, and z are not! I'm not sure that if my programmed codes are wrong or this extracted data still need to convert to be the correct X, Y, Z on GUI?

And similar to the dynamic objects, the point's position is given in spherical coordinates, how to convert to final X, Y, Z?

I'm looking forward for your guidance.

Thank you.

Shihyu.

  • 0
    TI__Mastermind 37805 points

    Hi Shihyu,

    I believe the difference in the y/z values is that the GUI takes your sensor's height and angle of elevation into account, whereas the area scanner code does not. So, the GUI rotates and translates your points accordingly. If you account for that difference, do the point positions make sense?

    Best,

    Nate

  • 0 in reply to Nathan Block
    Intellectual 260 points

    Hi, thanks for the description.

    After applying the rotation matrix on y, z axis to rotate back to world coordinate, this static point is coincide to the one on GUI.

    And for dynamic points, which need to transfer the spherical coordinate to Radar coordinate first, then rotate back to world coordinate again, which also fit the answer on GUI.

    Thanks a lot.

    Shihyu.