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IWR1642: Meaning of 3D-FFT(Angle-FFT)

Part Number: IWR1642

I try to use MATLAB to simulate the concept of Angle estimation according to this

document:https://training.ti.com/sites/default/files/docs/mmwaveSensing-FMCW-offlineviewing_0.pdf

it says "An FFT on the sequence of phasors corresponding to the 2D-FFT peaks resolves the two objects. This is called angle-FFT"

Then I have some question about it :

1. I have two 2D-FFT map , get from 2RX respectively , if I do the FFT along 2RX (RX1,RX2) . Is this concept same as Angle-FFT described in mmwaveSensing-FMCW-offlineviewing p.59?

(collect raw data from IWR1642 with DCA1000 , 1TX-2RX)

2. If my concept correct , How do I convert the 3D FFT information into actual angles? Is there any tips , document or code can refer to ?