• State Resolved
  • Locked Locked
  • Replies 1 reply
  • Subscribers 30 subscribers
  • Views 1366 views
  • Users 0 members are here
Support feedback
Options
Options
Similar topics

This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

IWR1443: How to get similar result of 3D point cloud in 3D Scatter Plot of mmWave Demo Visualizer as ROS point cloud demo?

Chris Meng
Mastermind 36435 points
Part Number: IWR1443

Hi,

I checked the ROS point cloud demo video at https://training.ti.com/point-cloud-visualization-robotics-using-tis-mmwave-sensor. I found the point cloud of walking person is more stable than the one I see in 3D Scatter Plot in mmwave demo visualizer when I walked before the IWR1443 EVM in lab. In my test, the point clouds are up and down frequently. Some points go very high or low in Z direction. In mmwave demo visualizer, I used the cfg in ROS driver demo (\ti_mmwave_rospkg_v1p2p1\ti_mmwave_rospkg\cfg\1443_3d.cfg). I used mmwave sdk 1.1 on EVM.

Would you pls kindly help on below quesions?

1. Which cfg file did you use in the ROS point cloud video?

2. Is the room in the video a special room, such as Anechoic Chamber?

3. Anything I need to take care about the position of EVM?

4. Did I miss any other thing?

  • 0
    TI__Mastermind 30405 points

    Hi Chris,

    The ROS visualizer RVIZ has persistence enabled through the Decay Time setting under the PointCloud2 topic. This enables the visualizer to keep the detected points on screen for the specified time which is configured to 0.25 secs. The mmWaveVisualizer 3D scatter plot does not have any such option so it may not be possible to get a rich point cloud display similar to the ROS visualizer. There are other differences as well between the two visualizers.

    1. Which cfg file did you use in the ROS point cloud video?

    When you start the ROS demo with the following command

    roslaunch ti_mmwave_rospkg rviz_1443_3d.launch,

    the system selects the file 1443_3d.cfg from ~/catkin_ws/src/ti_mmwave_rospkg/cfg directory to configure the mmWave Sensor. This file was generated using the mmWave Sensing Estimator with the settings shown in the corresponding gui file 1443_3d_gui_settings.PNG which is available in the same directory.

    2. The video was shot in an open office area, not an Anechoic chamber.

    3. The target needs to be in the Field of View of the EVM. In the above video, the target (a person) is moving in front of the EVM as shown in the corresponding camera video.

    Thanks

    -Nitin

    3.