IWR6843ISK-ODS: About detection distance of point cloud in pplcount

user6005362

Part Number: IWR6843ISK-ODS

Hi technical Supprt

IWR6843-ODS is installed on the ceiling, and we are considering extending the detection distance in the tilted direction by tilting it from a level with the floor.

If I actually evaluate it, I can detect it with rangeProfile when I tilt it.
I was able to confirm that the distance has increased.

However, the point cloud appears in pplcount of lab0020 compared to the case where it is installed horizontally
The distance does not increase.

I'm guessing that the data is cut somewhere in the DSP processing between the rangeProfile and the point cloud.

Could you tell me if there is a process that cuts the data somewhere ?

if any, please tell me the location of the dss source of pplCount of lab0020 that does the processing.

Best Regards.

over 6 years ago

0 Justin Curewitz over 6 years ago

TI__Mastermind 28055 points

Hi,

The ODS People Counting demo has 3D data output - the GUI only displays 2 dimensions. In the overhead usecase, X and Z are displayed, so that position under the sensor can be seen. Once you start tilting the sensor, you need to see Y to understand lateral position.

Regards,

Justin

0 user6005362 over 6 years ago in reply to Justin Curewitz

Intellectual 640 points

Dear Justin

I think probably not a display issue.

In lab0020_pplcount, when the maximum detection distance is evaluated on a wall installed perpendicular to the floor, the point cloud is output from the radar only up to about 3m.
So, I thinkThe data seems to be cut by some DSP processing.

At this time, the point cloud is not output even if the y-axis direction is viewed.

Best Regards.

0 Justin Curewitz over 6 years ago in reply to user6005362

TI__Mastermind 28055 points

Hi,

You are exiting the FOV of the sensor. Antenna FOV is +-60 degrees - as you get past 3 or 4 meters, depending on mounting height, you generally fall out of the FOV.

Regards,

Justin

0 user6005362 over 6 years ago in reply to Justin Curewitz

Intellectual 640 points

Dear Justin

Thank you for reply.

I illust what we want.

And, Saying 3m is when the radar is perpendicular to the floor.

Best Regards.

0 Justin Curewitz over 6 years ago in reply to user6005362

TI__Mastermind 28055 points

Hi,

Please see this post: https://e2e.ti.com/support/sensors/f/1023/p/836871/3098936#3098936

Regards,

Justin

0 user6005362 over 6 years ago in reply to Justin Curewitz

Intellectual 640 points

Dear Justin

Thank you for teaching me.

By the way, is filtering 2.7m that you saying the part commented out below of source code?

@C:\ti\mmwave_industrial_toolbox_{version}\labs\lab0020_pplcount_Overhead\src\dss\dss_data_path.c

   /* Compute (x,y,z) cordinates of the detected object */
    x = range*sin(theta)*cos(phi);
    y = range*cos(theta)*cos(phi);
    z = range*sin(phi);

//    if (y > 0.5 && y < 2.7) {
//        y = 1.5;
//        range = sqrt(pow(x,2) + pow(z, 2) + pow(y,2));
//        phi = asin(z/range);
//        theta = asin(x/(range*cos(phi)));
        obj->outputDataToArm.outputToTracker.range[objIndex] = range;
        obj->outputDataToArm.outputToTracker.angle[objIndex] = theta;
        obj->outputDataToArm.outputToTracker.elev[objIndex] = phi;
        obj->outputDataToArm.outputToTracker.doppler[objIndex] = (float)obj->detObj2D[objIndex].dopplerIdx;
        obj->outputDataToArm.outputToTracker.snr[objIndex] = (float)obj->detObj2D[objIndex].peakVal;
//    } else {
//        obj->outputDataToArm.outputToTracker.range[objIndex] = 0;
//        obj->outputDataToArm.outputToTracker.angle[objIndex] = 0;
//        obj->outputDataToArm.outputToTracker.elev[objIndex] = 0;
//        obj->outputDataToArm.outputToTracker.doppler[objIndex] = 0;
//        obj->outputDataToArm.outputToTracker.snr[objIndex] = 0;
//    }

Best Regards.

0 Justin Curewitz over 5 years ago in reply to user6005362

TI__Mastermind 28055 points

Hi,

That is correct.

Regards,

Justin

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IWR6843ISK-ODS: About detection distance of point cloud in pplcount