Tool/software: TI C/C++ Compiler
Hi,
This post is related to my last post tagged resolved,for which I still have some questions.
I need to explain what I have done.I have used lab0011-pplcount and modified the MATLAB code to collect data of point cloud in successive frames.Then I selected one frame of data.The target is displayed on the MATLAB graph associated with the data.With the data of that frame, I simulated the process of allocation.For a bunch of points,we use the leading point’s radial velocity Vr, i=0 to unroll the velocity of the other points in the allocation set.
In the relevant configuration file, mmw_pplcount_demo_default.cfg,we define allocation parameters 450 0.01 25 1 2.That means maxVelThre—Maximum velocity difference between candidate and centroid to be part of the allocation ser—is 2m/s.As you said in your previous post, we can turn down max velocity to the range of 5- 10 (50 - 100) which will be assigned to inst->maxRadialVelocity.In my case, 5m/s is assigned to inst->maxRadialVelocity.
Now, in the function of gtrack_moduleAllocate, we have a leading point and use gtrack_unrollRadialVelocity function to unroll the velocity of the other points.For instance,No.6 point is the leading point.Then we look at the No.7 point.Both of them meet the requirements of becoming a new track theoretically.In the detail of execution of gtrack_unrollRadialVelocity function,the leading point's velocity is larger than No.7 point's. Then un(2)—is the No.6 point's velocity in this step—will plus inst->params.maxRadialVelocity(5m/s).In the next step , fabs(uk[2] - un[2]) < inst->params.allocationParams.maxVelThre(2m/s).
At that time uk(2) and un(2) are in fact the velocity of No.6 point's velocity and the unrolling of No.6 point's velocity.
uk(2)=un(2)+inst->params.maxRadialVelocity=No.6 point's velocity+5m/s.
fabs(uk[2] - un[2])=No.6 point's velocity+5m/s-No.6 point's velocity=5m/s> inst->params.allocationParams.maxVelThre(2m/s).Therefore,we can not include the No.7 point into allocation.Worsely,the other points will meet the same situation.In the end ,my simulation didn't form any track.Is there anything wrong?
Thanks,
Hanna
