Hello,
We are evaluating the IWR6843 performance and as part of our evaluations we've saved the parsed data from gui_main.py in mmWave toolbox from the path below:
The visualizer is from radar_toolbox_1_20_00_11\tools\visualizers\Industrial_Visualizer\ I have two questions about the parsed TLVs:
1. Among the saved parsed packets, there are point cloud data with SNR = 255 which based on documentation are considered noise. However, in the same packet, the confidence of the identified target is 1. Does this mean the given point cloud information ("pointCloud" shape = (0, 7)) is different from the point clouds used to detect the target ("trackData" with shape = (0, 15))?
2. In the same packet there is "trackIndexes" (with variable size). The list includes zeros (sometimes with a few 255). In "3D people counting demo implementation guide", Target index TLV is explained as:
Length = sizeof (tlvHeaderStruct) + numberOfPoints Payload is a byte array, where each byte is a Target ID Could you please elaborate more on what "trackIndexes" list indicates? and why when a target is detected it is still a list of zeros?
An example packet is shown below (this is one of the dictionaries used for demo visualizer graph updates and for clarity numbers are rounded down to 4 digits):
{'error': 0,
'frameNum': 672,
'pointCloud': [[-1.5199, 2.8496, 0.8938, -0.1392, 8.64, 0.0, 255.0],
[-1.5195, 2.9187, 0.9107, -0.1392, 12.88, 0.0, 255.0],
[-1.5635, 3.0033, 0.7928, 0.0697, 8.36, 0.0, 255.0],
[-1.5758, 3.0268, 0.9444, -0.1392, 5.36, 0.0, 255.0],
[-1.604, 3.0809, 0.9613, -0.1392, 5.76, 0.0, 255.0],
[-1.3611, 3.9739, -0.5492, -0.835, 6.24, 0.0, 255.0],
[-1.3815, 4.0332, -0.5574, -0.835, 5.88, 0.0, 255.0]],
'numDetectedPoints': 7,
'numDetectedTracks': 1,
'trackData': [[0.0, -1.5577, 3.0288, 0.8205, 0.6186, -0.1463, 0.1683, 0.3173, -0.1839, 0.1002, 3.0, 1.0, 0.0, 0.0, 0.0, 1.0]],
'numDetectedHeights': 1,
'heightData': [[0.0, 1.9089, 1.4906]],
'trackIndexes': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}
