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IWR6843AOP: Cfg file of Area scanner

Dahyun Jeon
Prodigy 20 points
Part Number: IWR6843AOP

Hello,

I'm using Texas Instruments' IWR6843AOP for people tracking and plan to apply the tracking algorithm from AREA SCANNER with MATLAB-based visualization.

However, I'm having difficulty adjusting the variables in the cfg file due to a lack of documentation.

The cfg file I'm using is located at:
C:\ti\radar_toolbox_1_30_00_05\radar_toolbox_1_30_00_05\source\ti\examples\Area_Scanner\chirp_configs\area_scanner_68xx_AOP.cfg.

My questions are:

1. From my understanding based on other tuning guide literature, it appears that if a point falls outside the boundaryBox parameter's range, it doesn't undergo the association and allocation steps. Consequently, shouldn't the track for such a point vanish when it exits the boundaryBox area?

2. How does the cfar weight change with the number of cfarcfg when generating a pointcloud?

3. I've only found the "Detection Layer Parameter Tuning Guide for the 3D People Tracking Demo" document related to cfg tuning. Is there a similar guide for AREA SCANNER's cfg file?

Any insights or guidance on these matters would be greatly appreciated.

  • 0
    TI__Mastermind 23037 points

    Hello,

    1. Your understanding is correct, however a track is not made up of one point. The logic revolves around all the points assigned to that track as well as the centroid location of the track. This threshold is configurable separately from any other logic using stateParams.exit2freeThre. How quickly a track disappears once deemed in the "Exit" phase will depend on this threshold.

    2. I am not sure I understand your question here. We have two cfarcfg lines, one configuring the range direction and the other in the doppler direction. The threshold value changes will affect the amount of points you see, with a lower threshold allowing more points to show up in the pointcloud.

    3. When it comes to a large detection layer guide, we do not. We do however have guides on chirp design which still heavily affects performance, which I have linked below.

    https://www.ti.com/lit/an/swra553a/swra553a.pdf

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 20 points

    First, thank you for your response.

    However, I still have some additional questions.

    I understand that the area scanner requires a .cfg file as input to run, and that this affects the detection and tracking algorithm.

    For example, in the manual provided by Ti (e.g. sdk user guide), it says that if I set boundaryBox, tracking will not proceed outside that area, and if I adjust aoaFovCfg, the area outside that angle will not generate points.

    However, even though I adjusted the boundaryBox and aoaFovCfg, the detection and tracking results did not change.

    I would like to confirm that these options really work well in area scanner as well.

    Thanks!

  • 0 in reply to Dahyun Jeon
    TI__Mastermind 23037 points

    Hello,

    Your interpretation is mostly correct in the sense that should be how it behaves. Changing boundaryBox and staticBoundaryBox affects only the tracking layer of processing, which cause tracks to disappear when outside both zones. Changing aoaFovCfg AND cfarFovCfg will affect the detection layer of processing, and points outside of FOV will be disregarded with regards to the pointcloud + visualization.

    Now the Area Scanner visualizer does not "draw" the boundary boxes like the Industrial Visualizer does, so you will need to rely on knowing what the config sent is and the equivalent area in the X/Y axis of Area Scanner visualizer. Similarly changes in FOV are not visualized in the Area Scanner visualizer, all that will happen is points will simply not show up in the areas outside of specification.

    As an example, 3D People Counting uses the Industrial Visualizer which has much clearer representation of tracks/points/boundarybox. However what is sent from the radar to the visualizer is essentially the same between the two with respect to tracks/points/boundarybox

    https://dev.ti.com/tirex/explore/node?a=1AslXXD__1.30.00.05&node=A__AHmimjm.YieSxSQ1NfeGGw__radar_toolbox__1AslXXD__1.30.00.05

    Best Regards,

    Pedrhom