IWR6843AOPEVM: Extracting sensor value

D J

Part Number: IWR6843AOPEVM

Hi Ti Expert,

I got this type of data while extracting sensor value.

{'error': 0, 'frameNum': 142, 'pointCloud': array([[8.35585205e-02, 4.34476877e-01, 3.57783241e-01, 6.97200019e-02,
1.05199998e+01, 0.00000000e+00, 2.55000000e+02],
[8.78990389e-02, 4.33619582e-01, 3.57783241e-01, 6.97200019e-02,
1.26399997e+01, 0.00000000e+00, 2.55000000e+02],
[9.76698899e-02, 4.81820705e-01, 3.97554401e-01, 1.18300003e+00,
1.15199997e+01, 0.00000000e+00, 2.55000000e+02],
[8.51892074e-02, 3.99682051e-01, 2.97959970e-01, 6.97200019e-02,
9.87999978e+00, 0.00000000e+00, 2.55000000e+02],
[9.65532730e-02, 4.31774998e-01, 3.57783241e-01, 6.97200019e-02,
1.51199997e+01, 0.00000000e+00, 2.55000000e+02],
[1.07286128e-01, 4.79771076e-01, 3.97554401e-01, 1.18300003e+00,
1.27599997e+01, 0.00000000e+00, 2.55000000e+02],
[8.91817018e-02, 3.98810190e-01, 2.97959970e-01, 6.97200019e-02,
1.13599997e+01, 0.00000000e+00, 2.55000000e+02],
[1.00866123e-01, 4.30787893e-01, 3.57783241e-01, 6.97200019e-02,
1.76399996e+01, 0.00000000e+00, 2.55000000e+02],
[1.12078394e-01, 4.78674244e-01, 3.97554401e-01, 1.18300003e+00,
1.37599997e+01, 0.00000000e+00, 2.55000000e+02],
[9.71395380e-02, 3.96946915e-01, 2.97959970e-01, 6.97200019e-02,
1.27599997e+01, 0.00000000e+00, 2.55000000e+02],
[1.08485697e-01, 4.43311380e-01, 3.39804216e-01, 6.97200019e-02,
1.96399996e+01, 0.00000000e+00, 2.55000000e+02],
[1.16859453e-01, 4.77529546e-01, 3.97554401e-01, 1.18300003e+00,
1.41199997e+01, 0.00000000e+00, 2.55000000e+02],
[1.01104084e-01, 3.95955689e-01, 2.97959970e-01, 6.97200019e-02,
1.38799997e+01, 0.00000000e+00, 2.55000000e+02],
[1.13748342e-01, 4.45474616e-01, 3.35223377e-01, 6.97200019e-02,
2.06399995e+01, 0.00000000e+00, 2.55000000e+02],
[1.05058520e-01, 3.94924867e-01, 2.97959970e-01, 6.97200019e-02,
1.43599997e+01, 0.00000000e+00, 2.55000000e+02],
[1.18197326e-01, 4.44314878e-01, 3.35223377e-01, 6.97200019e-02,
2.03599995e+01, 0.00000000e+00, 2.55000000e+02],
[1.22634491e-01, 4.43110709e-01, 3.35223377e-01, 6.97200019e-02,
1.87599996e+01, 0.00000000e+00, 2.55000000e+02],
[1.02288825e-01, 3.55720009e-01, 2.42500599e-01, 6.97200019e-02,
5.23999988e+00, 0.00000000e+00, 2.55000000e+02],
[1.31471588e-01, 4.40569563e-01, 3.35223377e-01, 6.97200019e-02,
1.66399996e+01, 0.00000000e+00, 2.55000000e+02],
[1.35870637e-01, 4.39232841e-01, 3.35223377e-01, 6.97200019e-02,
1.42399997e+01, 0.00000000e+00, 2.55000000e+02]]), 'numDetectedPoints': 20, 'numDetectedTracks': 1, 'trackData': array([[1. , 0.17772967, 0.48489451, 0.33980036, 0.02468156,
0.03524046, 0.0031517 , 0.03088392, 0.04828541, 0.01007382,
3. , 0.98146981, 0. , 0. , 0. ,
1. ]]), 'numDetectedHeights': 1, 'heightData': array([[1. , 1.47643244, 1.29420233]]), 'trackIndexes': array([1., 1., 1., 1., 1.])}

can you explain this array?

Thanks in advance.

Best Regars,
Darshan

over 2 years ago

0 Nathan Block over 2 years ago

TI__Mastermind 37805 points

Hi,

Thank you for your patience over the holiday. We will be able to give a response on Tuesday when work resumes. Thank you!

Best,

Nate

0 Nathan Block over 2 years ago in reply to Nathan Block

TI__Mastermind 37805 points

Hi Darshan,

See our output guide here.

https://dev.ti.com/tirex/explore/node?a=1AslXXD__1.00.01.07&node=A__ADnbI7zK9bSRgZqeAxprvQ__radar_toolbox__1AslXXD__1.00.01.07&r=1AslXXD__1.00.00.26

Best,

Nate

0 D J over 2 years ago in reply to Nathan Block

Intellectual 300 points

Hi Nathan,

Good morning,

I also getting this type of data form sensor.

b'\x02\x01\x04\x03\x06\x05\x08\x07\x04\x00\x05\x03'\x03\x00\x00Ch\n\x00n*\x00\x00\x00\x00\x00\x00@\x00\x00\x00\x05\x00\x00\x00\x00\x00\x00\x00\xfc\x03\x00\x00\x14\x02\x00\x00\n\xd7#<\n\xd7#<\xf7\xcc\x929o\x12\x839\n\xd7#=$\x07\xea\x02\xdb\x0b\xe7\x00(\x07\xf9\x00\xd8\x0c\x00\x01\x17\x08\xe2\x03\xe4\x08\xc2\x00\x1b\x08\xe2\x03\xe1\ta\x01\x1f\x08\xe2\x03\xde\n5\x01$\x08\xea\x02\xdb\x0b\r\x01\x17\t\xe2\x03\xe4\x08\xee\x00\x1b\t\xe2\x03\xe1\t\xaf\x01\x1f\t\xe2\x03\xde\nq\x01$\t\xe2\x03\xdb\x0b5\x01\x17\n\xe2\x03\xe4\x08&\x01\x17\n\xe2\x03\xe1\t\x13\x02\x1f\n\xe2\x03\xde\n\xbf\x01$\n\xe2\x03\xdb\x0bd\x01\x17\x0b\xe2\x03\xe4\x08t\x01\x17\x0b\xe2\x03\xe1\t\x97\x02\x1b\x0b\xe2\x03\xde\n \x02 \x0b\xea\x02\xdb\x0b\x96\x01\x13\x0c\xe2\x03\xe4\x08\xdb\x01\x17\x0c\xe2\x03\xe1\tI\x03\x1b\x0c\xe2\x03\xde\n\x97\x02\x1f\x0c\xea\x02\xdb\x0b\xc5\x01\x17\r\xf9\x00\xe7\x07\x86\x00\x13\r\xe2\x03\xe4\x08n\x02\x17\r\xe2\x03\xe1\t6\x04\x1b\r\xe2\x03\xde\n&\x03\x1f\r\xea\x02\xdb\x0b\xf1\x01\x13\x0e\xf9\x00\xe7\x07\xac\x00\x13\x0e\xe2\x03\xe4\x083\x03\x13\x0e\xf9\x00\xe1\tb\x05\x1b\x0e\xe2\x03\xde\n\xc6\x03\x1f\x0f\xea\x02\xdb\x0b\r\x02\x13\x0f\xf9\x00\xe7\x07\xdb\x00\x13\x0f\xe2\x03\xe4\x083\x04\x13\x0f\xf9\x00\xe1\t\xca\x06\x17\x0f\xe2\x03\xde\nh\x04\x1f\x10\xe2\x03\xdb\x0b\x1d\x02\x13\x10\xf9\x00\xe7\x07\x13\x01\x0f\x10\xf9\x00\xe4\x08\\\x05\x13\x10\xf9\x00\xe1\t7\x08\x17\x10\xe2\x03\xde\n\xef\x04\x0f\x11\xf9\x00\xe7\x07R\x01\x0f\x11\xf9\x00\xe4\x08l\x06\x0f\x11\xf9\x00\xe1\tM\t\x17\x11\xe2\x03\xde\nC\x05\x0f\x12\xf9\x00\xe7\x07\x87\x01\x0f\x12\xf9\x00\xe4\x08\xfc\x06\x0f\x12\xf9\x00\xe1\t\xa2\t\x13\x12\xf9\x00\xde\nV\x05\x0b\x13\xf9\x00\xe7\x07\xa6\x01\x0b\x13\xf9\x00\xe4\x08\xcd\x06\x0f\x13\xf9\x00\xe1\t+\t\x13\x13\xf9\x00\xde\n-\x05\x07\x14\xd3\x05\xe7\x07\xa6\x01\x0b\x14\xf9\x00\xe4\x08\x0e\x06\x0b\x14\xf9\x00"
b'\xe1\tJ\x08\x13\x14\xf9\x00\xde\n\xdf\x04\x07\x15\xf9\x00\xe7\x07\x87\x01\x0b\x15\xf9\x00\xe4\x08$\x05\x0b\x15\xf9\x00\xe1\t@\x07\x03\x16\xd3\x05\xe7\x07X\x01\x07\x16\xf9\x00\xe4\x08F\x04\x03\x17\xf1\x01\xe7\x07&\x01\xfb/\x0f\xfe\xdb\x0b\x8a\x02\xf2\x03\x00\x00p\x00\x00\x00\x01\x00\x00\x00\x10TC=\xef\xf7$?\xff\xab\x07>\xe6UT\xbe\x07E\xaf=c\x80X=\x86h7\xbe\x8a\xee\x94=\xa0"2=\x16$\x07@v[\xcb\xbd\x18"<\xbd>%\xea\xbbv[\xcb\xbd\x00A\x03@\x81j\x18\xbd\xdd\x89]\xbb\x18"<\xbd\x81j\x18\xbd\xcd<\x07@V 6\xbb=%\xea\xbb\xdf\x89]\xbbV 6\xbb\xb0s\x8d>\x00\x00@@\x1a\x82}?\xf4\x03\x00\x00\x0c\x00\x00\x00\x01\x00\x00\x00;\xf7\xfd?\xa4\xb3\xeb?\xf3\x03\x00\x00C\x00\x00\x00\xff\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\x01\xfd\x03\x00\x00\x04\x00\x00\x00\x01\x00\x00\x00'

Regards,
Darshan

0 Nathan Block over 2 years ago in reply to D J

TI__Mastermind 37805 points

Hi Darshan,

It looks like you didn't reset the sensor between trials.

Best,

Nate

0 D J over 2 years ago in reply to Nathan Block

Intellectual 300 points

Hi Nathan,

1st data get:- gui_parser.py

2nd data get :- IWR6843AOPEVM's Data COM port 4 and baud rate:- 921600. Getting data is not proper visible data, That's why wrote a script for convert into byte format.

I have question about 1st payload.
-Base on the documents, if increasing detection, then payload is increasing. Where to see the no of detection point?
-If object is moving in sensor area, How to identify that this object moving object is a same not a different object? I saw in the visualizer, that detection unique ID, where find in unique ID in 1st payload?

Regards,
Darshan

0 Nathan Block over 2 years ago in reply to D J

TI__Mastermind 37805 points

Hi Darshan,

the number of detected points is based upon the number of points received over UART. You'll just need to count them yourself. For your second question, you can identify targets via the target ID. Please see the document I linked before.

Best,

Nate

0 D J over 2 years ago in reply to Nathan Block

Intellectual 300 points

Hi Nathan,

Nathan Block said:
the number of detected points is based upon the number of points received over UART.

Both value received over UART,

D J said:
array([[8.35585205e-02, 4.34476877e-01, 3.57783241e-01, 6.97200019e-02,
1.05199998e+01, 0.00000000e+00, 2.55000000e+02],

what is the value represent? And this array size variable and based on the numbetectedpoint. And in sub-array has 7 complex number.

Regards,
Darshan,

0 Nathan Block over 2 years ago in reply to D J

TI__Mastermind 37805 points

Hi Darshan,

Looking in the python code, this indicates to me that the values here are (x,y,z,doppler,snr,noise power, track index). See the

parseStandardFrame function in gui_parser to see the details.

Best,

Nate

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IWR6843AOPEVM: Extracting sensor value