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IWR1443BOOST: difference in number of points between mmWave demo visualizer and Rviz

Akash Deep Singh
Intellectual 555 points
Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443

Hi,

When I use mmWave demo visualizer, I see very few points ~ 10. However, when I use Rviz and follow all the steps as shown in ti-mmWave robotics, a see a much higher number of points ~50-100. My question:

  1. Is the number of points in both cases the same and the difference that I am observing is due to how they visualize the points. "OR"
  2. The difference in the number of points is due to how the data is being processed in both cases?

Also, what is the maximum number of points that can be obtained for mmWave visualizer and Rviz through the sensor?

  • 0
    TI__Mastermind 21295 points
    Hello Akash,

    Both the ROS visualizer and the mmWave Demo Visualizer rely on the same mmWave SDK demo code running on the mmWave sensor. Also, the ROS visualizer does not constrain the number of points displayed. Therefore, any difference in the actual number of points displayed is due to the cfg file settings used to setup the sensor. Specifically, the default IWR1443 cfg file that comes with the ROS visualizer has the Detection Thresholds turned down to produce more points.

    Please also note that the ROS visualizer has a setting in the Rviz GUI called "Decay Time" which determines how long points stay on the screen before they disappear. By default this is set to 0.25 seconds which produces a much fuller looking point cloud than the mmWave Demo Visualizer and helps visualize the Radar data.

    Please see the following thread for a discussion of the maximum number of points output from the mmWave SDK demo.
    e2e.ti.com/.../2701510

    Regards,
    John
  • 0 in reply to JohnH
    Intellectual 555 points
    Thanks John for your insightful reply.