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IWR6843ISK: 3D point data output

Charles Cruey
Prodigy 140 points
Part Number: IWR6843ISK
Other Parts Discussed in Thread: IWR6843

I would like to get full 3D and GTRACK data out of this eval kit in a vehicle sensing application where it will be looking down the road from an overhead gantry, seeing the vehicles from the rear and at a 30-35 degree angle down from horizontal. 

It looks like all the demos only do 2D and GTRACK data. Is 3D not implemented in the SDK yet or am I missing something? Which demo would you recommend for a starting point?

Thanks,

Andy

  • Former Member
    0 Former Member

    Hello,

    The latest SDK does include 2D and 3D versions of the GTRACK lib (alg folder of the SDK). If you are creating your own demo then you can refer to the doxygen of the respective libraries for usage instructions.

    Amanda

  • 0 in reply to Former Member
    Prodigy 140 points

    Why does this enum in the docs of both SDK 3.01.01.02 and 3.02.00.04 say 3D and 3DA - Not Supported (Future)? And, why are all the GTRACK 3D utilities #IFDEF'd out (in gtrack_utilities_3d.c)?

    It looks to me like only 2DA is supported. Am I missing something?

    enum GTRACK_STATE_VECTOR_TYPE

    GTRACK State Vector.

    Defines State vector options 2D - Depreciated, not supported 2DA - Supported 3D, 3DA - Not supported (Future)

    Enumerator
    GTRACK_STATE_VECTORS_2DV 

    2D motion model with constant velocity. State vector has four variables S={X,Y, Vx,Vy}
    GTRACK_STATE_VECTORS_2DA 

    2D motion model with constant acceleration. State vector has six variables S={X,Y, Vx,Vy, Ax,Ay}
    GTRACK_STATE_VECTORS_3DV 

    3D motion model with constant velocity. State vector has six variables S={X,Y,Z, Vx,Vy,Vz}
    GTRACK_STATE_VECTORS_3DA 

    3D motion model with constant acceleration. State vector has nine variables S={X,Y,Z, Vx,Vy,Vz, Ax,Ay,Az}
  • 0 in reply to Charles Cruey
    Prodigy 140 points

    Been going through the DSS project and the function "RADARDEMO_dopplerProcIntegrationFltpAllAnt" only supports number of antennae of 4 or 8. That also implies the current SDK version can't handle elevation. The general case of other numbers of antennae is excluded by #if 0. 

    Andy

  • Former Member
    0 Former Member in reply to Charles Cruey

    Hello Andy,

    The current SDK demo for IWR6843 is definitely capable of processing elevation for a 3D point cloud. Can you please confirm whether you have successfully run the SDK Out of Box Demo? As you can see you can easily select 3TX configuration for elevation information. 

    Amanda

  • 0 in reply to Former Member
    Prodigy 140 points

    OK, now I see. Apparently the SDK Demo has been updated since I started this project about a month ago. The old SDK Demo didn't use the DSP, but now there's one that does use both the DSP and HWA. I didn't know it until I went looking. Thanks for pointing me in a good direction.

    Andy