AWR6843AOP: CPD doesn't work well when Clockwise rotation angle in x-y plane =90 in sensorPosition

Hi Chris,

Can you give us a diagram or drawing indicating how the sensor is facing and positioned relative to the car seats in both scenarios? Are there any obstacles in your setup that could be giving reflections?

Regards,

Tim

Tim，

Working setup with sensorPosition 0 1.2 1.1 90 -90 0 (page 12 of radar_toolbox_1_30_00_05\source\ti\examples\InCabin_Sensing\AWR6843_CPD_with_Classification\docs\AWR6843_CPD_with_Classification_Setup_Guide.pdf).

Non-working setup with sensorPosition 0 1.2 1.1 90 90 0.

Thanks,

Chris

Hi Chris,

The value you used should be correct. Can you try slightly modifying it to 0, 90, 180, 270 to see if results vary? Please post your results on here as well.

Regards,

Tim

Tim,

Pls find test results below. I moved at the 2nd row in all tests and I saw unexpected point clouds in all tests.

sensorPosition 0 1.2 1.1 90 0 0

sensorPosition 0 1.2 1.1 90 180 0

sensorPosition 0 1.2 1.1 90 270 0

Thanks,

Chris

HI, Chris:

Can you modify the following function as below inside AWR6843_CPD_w_Classification_visualizer.m?   I have also attached the .exe file here.

https://e2e.ti.com/cfs-file/__key/communityserver-discussions-components-files/1023/AWR6843_5F00_CPD_5F00_w_5F00_Classification_5F00_visualizer.exe

function point3D = transformation(pointCloud, sensorPosition)

if isempty(pointCloud)
point3D = [];
return;
end
range = pointCloud(1,:);
azim = pointCloud(2,:);
elev = pointCloud(3,:);
snr = pointCloud(5,:);

% Transformation from spherical to
% cartesian for front mounted sensor
x = range.*cos(elev).*sin(azim);
y = range.*cos(elev).*cos(azim);
z = range.*sin(elev);
%% rotate back into front mounting position.
yzRot = sensorPosition.yzRot;
xyRot = sensorPosition.xyRot;
xzRot = sensorPosition.xzRot;
% rotation in yz plane
y1 = [ cosd(yzRot), sind(yzRot)] * [y; z];
z1 = [ -sind(yzRot), cosd(yzRot)] * [y; z];
% rotation in xy plane
x1 = [ cosd(xyRot), sind(xyRot)] * [x; y1];
y2 = [ -sind(xyRot), cosd(xyRot)] * [x; y1];
% rotation in xz plane
x2 = [ cosd(xzRot), sind(xzRot)] * [x1; z1];
z2 = [ -sind(xzRot), cosd(xzRot)] * [x1; z1];

% sensor mounting position adjustment
x_ = x2 + sensorPosition.xOffset; % offset in left and right
y_ = y2 + sensorPosition.yOffset; % offset in front and back
z_ = z2 + sensorPosition.zOffset; % Height of the sensor above the floorboard

point3D = [x_; y_; z_; snr];
end