IWR6843ISK-ODS: 3D People Counting

Hello! 

I am setting up the IWR6843ISK-ODS radar sensor for a ceiling mounted 3D people counting application and am running into some issues with the tracking layer parameters.

The application is a small entry room with two doors (entrance/exit). I am attempting to count the number of people entering and exiting the room, I have the parameters for the tracking layer updated for the staticBoundryBox, boundryBox, and presenceBoundryBox, but am having issues with the program not counting the correct number of people entering and exiting. 

The point clouds for individual people are close to each other and moving with the same speed and direction and the radar is detecting them as one person instead of two.

As per the 3D_people_counting_tracker_layer_tuning_guide (1).pdf tracker layer tuning guide it mentions in 4.3 changing the gatingParam and allocationParam to fix the issue of too few people being counted. Is there a recommendation for the best configuration for these parameters? 

Below is an example of the code I am running. Any help is appreciated, thank you!

% SDK Parameters

% See the SDK user's guide for more information

% "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"

sensorStop

flushCfg

dfeDataOutputMode 1

channelCfg 15 7 0

adcCfg 2 1

adcbufCfg -1 0 1 1 1

lowPower 0 0

bpmCfg -1 1 1 2

% Detection Layer Parameters

% See the Detection Layer Tuning Guide for more information

% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_detection_layer_tuning_guide.pdf"

profileCfg 0 60.75 30.00 25.00 59.10 0 0 54.71 1 96 2950.00 2 1 36

chirpCfg 0 0 0 0 0 0 0 1

chirpCfg 1 1 0 0 0 0 0 6

chirpCfg 2 2 0 0 0 0 0 6

frameCfg 0 2  48  0 55.00 1 0

dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 5.00 8.00 0.40 1 1

staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0

dynamicRangeAngleCfg -1 0.75 0.0010 1 0

dynamic2DAngleCfg -1 3.0 0.0300 1 0 1 0.30 0.85 8.00

staticRangeAngleCfg -1 0 8 8

fineMotionCfg -1 1 1.0 10 2

antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0

antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2

antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1

fovCfg -1 70.0 70.0

compRangeBiasAndRxChanPhase 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0

% Tracker Layer Parameters

% See the Tracking Layer Tuning Guide for more information

% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_tracker_layer_tuning_guide.pdf"

%This is relevant to cars coordinate system  -y y x -x -z z

staticBoundaryBox -0.9 0.9 0 1 -0.5 1.5

boundaryBox -5 5 0 3 -0.5 3

sensorPosition 1.5 0 90

gatingParam 3 2 2 3 4

stateParam 3 3 12 500 5 600

allocationParam 20 100 0.1 5 0.1 0.6

maxAcceleration 0.1 0.1 0.1

trackingCfg 1 2 800 30 46 96 55

presenceBoundaryBox -2.0 2.0 0 1.5 -0.5 1.5

sensorStart