Tool/software: TI C/C++ Compiler
Hello,
I read other posts about how it could be possible to get the velocity information instead of the intensity information in the ROS Point Clous Visualizer Demo, but it didn´t worked very well.
What exactly should I change in the DataHandlerClass to see the exact velocity in Rviz?
Is it possible to show the velocity of the points in the diagramm?
Thank you!
Hello,
I assume that you have looked at the the following thread: https://e2e.ti.com/support/sensor/mmwave_sensors/f/1023/p/660517/2430753#2430753
As mentioned in the above thread, the X,Y,Z and intensity values are copied to the RScan->points structure in the READ_OBJ_STRUCT case statement. The attached snapshot shows where you need to make the changes to populate the Doppler index in the intensity field..
1. Change the size of the temp array to 5 (line 435 in snapshot version)
2. Assign mmwData.objOut.dopplerIdx into temp[4] (line 440 in snapshot version)
3. Assign temp[4] to RScan->points[i].intensity (line 457 in snapshot version)
Note that the OOB demo firmware running on the EVM returns the Doppler bin index from Doppler FFT and the index is converted to velocity in m/s by the mmWaveDemoVisualizer. ROS driver does not have this capability so the value in the intensity field is the Doppler Index.
Select Color by Intensity in the ROS visualizer which colors the points from White to Blue gradient, which in this case would represent the Velocity bin index. I am not aware of a way to print the attribute value along-with the point.
BTW, if you're only looking for a better visualizer, we also have the Zone Occupancy Detection Lab available in mmWave Industrial Toolbox:2.5.0, which provides a Matlab based GUI on Windows. This demo color codes the points on Velocity as well (3 levels: positive, negative and static) and comes with Matlab source code.
Regards
-Nitin
