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AWR1843BOOST: Co-Vriance Vector from MRR

Varun Nelakanti
Prodigy 105 points
Part Number: AWR1843BOOST

Hey all,

I'm working on trying to output the co-variance matrix/vector of all objects which are currently being tracked by the Radar running the MRR demo.

My question is how do I get the co-variance along with the usual XYZ, velocity and peakval. 

Just a beginner so please excuse the basicness of this question.

Regards,

Varun

  • 0
    TI__Mastermind 22155 points

    Varun,

    Could you please let us know the use of this co-variance in your application?

    -Raghu

  • 0 in reply to Raghunandan Kamath
    Prodigy 105 points

    Hey Raghu,

    We are going to use the Co-Variance matrix for a Data Association algorithm to assosciate the data with different sensors, like multiple cameras and lidars. 

    Regards,

    Varun

  • 0 in reply to Varun Nelakanti
    TI__Expert 4720 points

    Hi Varun, 

    The covariance matrices can be accessed from the function in dss_data_path.c called 'populateOutputs'. 

    Look for the comment that says 'Tracking output for the max-vel-enh subframe.'

    The only outputs that are taken from the device are the state (x,y, vx, vy), 

    trackerOpFinal[jk].x = (int16_t) (obj->trackerState[ik].vec[iX]*oneQFormat);
    trackerOpFinal[jk].y = (int16_t) (obj->trackerState[ik].vec[iY]*oneQFormat);
    trackerOpFinal[jk].xd = (int16_t) (obj->trackerState[ik].vec[iXd]*oneQFormat);
    trackerOpFinal[jk].yd = (int16_t) (obj->trackerState[ik].vec[iYd]*oneQFormat);

    The 'covariance matrix' for the object is stored in obj->trackerState[ik].covmat. 

    You can add more elements to the trackerOpFinal to pull out the covariance matrix. 

    Regards

    Anil

  • 0 in reply to Anil Mani
    Prodigy 105 points

    Hey Anil,

    Thank for the reply. It worked after making changes even in the structure and all.

    I have another question, regarding the TLV number. I keep getting TLV type 4 at times. Why and what is TLV type 4 when it is not there in the documentation?

    Regards,

    Varun