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IWR1843BOOST: MRR Demo - Looking for documents in understanding the trackerInstance and how to modify the parameters

Asha Jose
Prodigy 146 points
Part Number: IWR1843BOOST

I have having issues in correctly tracking multiple objects  which are seen in front of the sensor. 

I would like to tweak parameters related to tracking as described in the bin mat lab code as follows.

obj->trackerInstance.rangeAssocThresh  =   2.0f;            /* in meters. */

    obj->trackerInstance.velAssocThresh     =   2.0f;           /* in meters/sec. */

    obj->trackerInstance.azimAssocThresh   =   (5.0f/180.0f);   /* in sin(omega). */

    obj->trackerInstance.maxTrackers    =   MAX_TRK_OBJs;

    obj->trackerInstance.fixedPointScale      =   (1 << obj->xyzOutputQFormat);

    obj->trackerInstance.distAssocThreshSq  =   1.65f;            /* in meters sq. */

Where can I find documents or other materials to know what each parameters are and what values I can set 

  • 0
    TI__Guru*** 149154 points

    Hi,

    Please give us some time to check with the developer

    thank you

    Cesar

  • 0
    TI__Expert 4720 points

    Hi Asha,

    These are parameters that are used by the Kalman filter algorithm to associate clusters to an existing track. The function isTargetWithinDataAssociationThresh is where these parameters are used. However, there is no separate document explaining them.

    The parameters are however, self explanatory.

    1) rangeAssocThresh - the minimum difference in range between a cluster and a track to allow association.

    2) velAssocThresh - the minimum difference in velocity between a cluster and a track to allow association.

    3) azimAssocThresh - the minimum difference in azimuth between a cluster and a track to allow association.

    4) distAssocThreshSq - the minimum distance between a cluster and a track to allow association.

    Regards

    Anil

  • 0 in reply to Anil Mani
    TI__Guru*** 149154 points

    Thank you Anil

    Cesar