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AWR1843: How can I get the visual data of distance, speed, intensity and phase of point cloud/object through AWR1843?

Gary Lu
Intellectual 1660 points
Part Number: AWR1843


Hello，

I tried to extract data such as distance, speed and intensity of the object on CCS and ros respectively, but I couldn't do it. Only raw data could be extracted on ccs, and I didn't know how to make it into data that I could understand. In scan file on ros, the intensity phase was shown as 0, while the speed had no direction. All numbers are 0-255, and I don't know how to convert them into data I can understand

Regards，

Gary

  • 0
    TI__Genius 14436 points

    Hey Gary,

    Thanks for reaching out regarding data visualization. First of all, have you used any of the visualizers such as the mmWave Demo Visualizer or the Industrial Visualizer under the Radar Toolbox (<RADAR_TOOLBOX_VER>/tools/visualizers/Industrial_Visualizer)? These visualize data by capturing the UART stream of TLV data and interpreting the data for plotting.

    How are you extracting data from the device and what format is the data in? If its TLV data over UART, I would recommend looking at the parseTLV.py and parseFrame.py files in the Industrial Visualizer folder to understand how the data can be parsed. If its raw ADC data, you need to calculate the FFT to obtain the frequencies and eventually range and doppler through additional calculations, so its best to stick with TLV data unless you need the ADC data for algorithm development. 

    If you would like to use ROS for visualization, I would recommend looking at the TI mmWave ROS Driver User Guide which can help you get set up with the TI ROS driver for mmWave sensors. The TI ROS driver includes visualization of radar point cloud data through RViz by interpreting captured UART TLV data. 

    Let me know if I was able to answer your questions or if you have more.

    Regards,

    Kristien

  • 0 in reply to Kristien Everett
    TI__Intellectual 1660 points

    Hello，

    I have used the visualization tool demo visualizer, but I can't understand that the visual image does not tell the specific orientation of a frame, only the image, no data. Also, the link you sent me won't open. Take a look, this is the data I got on ros, and I want to parse these data into SI units, and I can't find a way to parse them at present.

    Regards，

    Gary

  • 0 in reply to Gary Lu
    TI__Genius 14436 points

    Hey Gary,

    It appears you are looking at the radar_scan_pcl_0 publisher which sends messages that use the RViz built-in display type, PointCloud2. This data type is defined by RViz and is used for visualization by RViz. If you would like to view more readable points, I would recommend using the radar_scan topic instead which outputs Cartesian points in 32-bit floating point format. 

    The corresponding variables for the point cloud and individual points can be found as the RScan and radarscan objects respectively under the DataHandlerClass.cpp file under mmwave_ti_ros/ros1_driver/src/ti_mmwave_rospkg/src/. Within in this file, you can more easily read the point cloud data in the RScan object or the individual points through the radarscan object and is the primary file that should modified if you wish to further manipulate the data available.

    Let me know if you have any questions, but I highly recommend spending some time looking through the DataHandlerClass.cpp file, particularly the sortIncomingData method, to understand how radar data is parsed, sorted, and outputted.

    Regards,

    Kristien