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IWR6843AOPEVM: How to generate the full pointcloud data from static object without moving?

Marius L.
Prodigy 10 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: UNIFLASH, IWR6843AOP

Tool/software:

Hi everyone,

I'm currently evaluating the mmWave radar sensor to determine its technical suitability for my project. I’ve tested several TI demo configurations, including the "Out of Box Demo" and "People Tracking." In all cases, I noticed that point cloud detections are heavily tied to movement - objects only appear when they’re in motion.

However, this behavior isn’t ideal for my application. I need to capture the complete point cloud of all nearby objects - even those that are completely stationary - specifically within the range of 0 to 60 cm. I am not interested in object tracking or classification; my goal is simply to extract raw point cloud data, including reflections from static surfaces.

Is this possible with the sensor? If so, what configuration adjustments would I need to make in order to access this kind of static data?

Thanks in advance for your help!

Just to clarify: I don’t have MATLAB available, so I’m hoping to find a solution that doesn’t require it.

  • 0
    TI__Mastermind 22517 points

    Hey,

    The best you will get on-chip without MATLAB is the 3D People Tracking example demo with clutter/static enabled and a CFAR threshold so low that it filters nothing. To have clutter enabled using the 3D People Tracking/high performance chain, you will need to make some changes as I've outlined in the last post of this thread.

    https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1534754/iwr6843aopevm-cannot-detect-trihedral-corner-reflector-stationary-object/5903827?tisearch=e2e-sitesearch&keymatch=%20user%3A519338#

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 10 points

    Hi Pedrhom,

    Thanks for your detailed answer and the link to the other thread!

    I followed the instructions provided there - I opened the project, copied the relevant code lines, and inserted them at the designated location. The build process completes successfully.

    However, flashing the firmware to the IWR6843AOP board is failing. When using UniFlash, I receive the following error messages:
    [28.7.2025, 07:10:05] [ERROR] Cortex_R4_0: XXXX Received unexpected data!!!XXXX
    [28.7.2025, 07:10:05] [ERROR] Cortex_R4_0: Not able to connect to serial port. Recheck COM port selected and/or permissions.

    I’m wondering: is there a specific board configuration I still need to set somewhere? Or is the project in the "6843" folder already fully compatible with the IWR6843AOP?

    There's no binary file in the MSS folder after compilation — I'm referring to the 3D_people_track_6843_dss.bin located in the Debug folder instead.

    Thanks again for your support!

    Best regards, Leuthold

     

  • 0 in reply to Marius L.
    TI__Mastermind 22517 points

    Hello Leuthold,

    In CCS when you import 3D People Tracking you will have two projects, the mss and the dss. You need to compile the 3D_people_track_6843_dss project first. Afterwards you compile the 3D_people_track_6843_mss project. When you compile the mss project (even if there were no changes in this specific project), it is this 3D_people_track_6843_mss.bin that you will be flashing to the device which has the dss code built into it.

    That said, did you ensure you set your device to flashing mode when attempting to flash? And setting the correct CFG port as the port to flash to?

    EVM Operational Modes User Guide

    Using Uniflash with mmWave

    Best Regards,

    Pedrhom