AWRL1432BOOST-BSD：About the problem of angle conversion of parameter sensorPosition and boundaryBox

Tool/software:

Hi Ti,

Referring to MMWAVE_L_SDK_05_05_02_00, I performed the following tests on the sensorPosition parameter:

Test scenario:

Man riding a bicycle along the white line towards the radar

test 1 :

The normal line of the radar antenna surface is the positive white line.

set the parameters:

sensorPosition 0 0 0.0 45 0

test 2:

The normal of the radar antenna surface is shifted 45 degrees to the right.

Set the parameters:

sensorPosition 0 0 0.0 45 0

test 3 :

The normal of the radar antenna surface is shifted 45 degrees to the left.

Set the parameters:

sensorPosition 0 0 0.0 -45 0

Test results:
(The red arrow is the direction of the detection point, and the blue arrow is the direction of the tracking point)

Test 1 :

Test 2 :

Test 3 :

Question 1:

From the test results, I am confused about the sensorPosition parameter. It seems that it only converts the angle of the detection point, but not the tracking angle?

Question 2:

What would be the application of this feature?

Question 3:

I want to ask, I want the tracking result to get the same angle conversion as the detection point, or the detection point does not necessarily need the angle conversion, but the tracking result gets the angle conversion, where can I find this function in the program and Modify it?

Question 4:

Among the parameters, there are three types of boundaryBox
They are:
boundaryBox, presenceBoundaryBox, and staticBoundaryBox
I noticed that presenceBoundaryBox supports the third dimension, but the other two don't. Why?

Question 5:

I would like to ask, what are the functions of these three boundaryBoxes, and what is the difference between boundaryBox and presenceBoundaryBox?

Question 6:

We have also conducted the same experiment. When the bicycle approaches the radar and reaches the Y-max range of the staticBoundaryBox, there is no detection point. If the Y-max is adjusted to be close to the Y-min (shorten the length of Y), There are detection points only when there is a distance, so I am confused about what the function of staticBoundaryBox is?

Thanks for reading
Brent