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IWR6843ISK: 3D People Counting Lab static points inclusion feature documentation

Mustafa Homsi
Expert 1171 points
Part Number: IWR6843ISK


Hello,

Is there any documentation that describe how does the new static point feature in the 3D people counting operate? I am assuming it is only enabled if the track was declared static, correct? In this case how is the track gate boundary is being determined since there might be a lot of surrounding static reflections (ex: sitting on a couch)? Are these static point being reported as part of the UART point cloud even if removeStaticClutter is enabled?

Also, I couldn't find any accompanying doxogyn documentation for this lab. Did I miss it?

Thanks!

Mustafa 

  • 0
    TI__Guru 50240 points

    Hi Mustafa,

    I've asked an expert to look into this and we should have an answer for you sometime next week.

     

    Cheers,

    Akash

  • 0 in reply to Mustafa Homsi
    TI__Mastermind 28055 points

    Hi Mustafa,

    Unfortunately, we haven't published documentation on this yet. Essentially, there are two steps:

    1. Getting static points - during static clutter removal, the static data that is removed is saved.  After the dynamic point detection finishes, the signal chain is run again with the static data. These new points are appended to the point cloud.
    2. Tracker - at a high level, the tracker will ignore static points if the track is thought to be moving. Once the track becomes static, it can associate with static points. Track is declared static if the hypotenuse of its (X, Y, and Z) velocities is less than 1 m/s. If a track is not associated with dynamic points but can associate with static points, it will become static and associate with the static points.

    We are still working on the tracker/static integration, so some of this may change in the future if we find a better scheme.

    Regards,

    Justin

  • 0 in reply to Justin Curewitz
    Expert 1171 points

    Thanks Justin. This gives me the high level picture I am looking for. To confirm, even if removeStaticClutter is enabled, the points cloud is going to contain (at the end) static points so if I am plotting these points and I don't want to show any static points, I would have to manually drop them, correct? Have you guys considered sending the static points as a separate TLV?

    I still have more questions about the gating function when the track is deemed static but I will review the code now I know the high level concept.

    Thanks and looking forward to future improvements and documentation on this feature.

    Mustafa