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Original question:

IWRL6432: Image loading failed. Not able to connect to serial port.

IWRL6432: Creating a 3D Point Cloud or Heatmap using the IWRL6432BOOST

Dylan Lindsey
Prodigy 40 points
Part Number: IWRL6432

Hello, 

I am trying to create a 3D pointcloud and/or heatmap of a still scene using the IWRL6432BOOST. Currently the Out of the Box demo creates a point cloud, however this only has an x and y dimension and is missing a z dimension. Is there a way to easily fix this within the provided python scripts or something that can be changed in CCS (is so, what?). 

I would also be open to any changes to the Industrial Visualizer to accomplish this goal.

If I need to create a new project in CCS, I am curious on how I would do this from an empty project. Essentially I just want to collect data in a 3D point cloud format, and save it somewhere it can be processed at a later date. Any guidance over these issues would be very much appreciated.  

  • 0
    TI__Genius 13215 points

    Hi,

    Please allow us a day or so to respond.

    Thanks,
    Clinton

  • 0
    TI__Genius 16601 points

    Hi, 

    Which configuration/s are you using?

    Due to the antenna design for the IWRL6432BOOST EVM, the angular resolution in the elevation direction is not as good as in the azimuth direction. For this reason, most of the default configurations do not enable processing in the elevation direction. 

    To enable this processing and get z values for detected points, you can increase elevation FFT size in the configuration file. For example, using the configuration file motionDetect.cfg ({MMWAVE_SDK5_INSTALL_DIR}\examples\mmw_demo\motion_and_presence_detection\profiles\xwrL64xx-evm), increase elevation FFT size from 2 to 4:

    sigProcChainCfg 32 4 1 0 4 4 0 15
    Regarding saving data for later processing, the Applications/Industrial Visualizer from the Radar Toolbox provides the ability to save output data. But keep in mind that the data is saved as a bin file containing the raw UART output. This means that it will need to be parsed and decoded into the actual usable data values. You can refer to the parsing done in the visualizer source code (gui_parser.py, parseFrame.py and parseTLV.py) and implement the same within your processing scripts. 
     
    Best Regards,
    Josh