Hello,
The radar we are usning now is IWR6843ISK-ODS,the bin file we are using is people_counting.Our strategy is obtaining point clouds from radar and do clustering and tracking on our own PC.
1.Our current problem is the left-right asymmetry of the point cloud,that is,there is no point cloud on the left front of the radar.
2.For problem 1,we tried to lower the CFAR threshold to solve it.However,It caused more noise and the point cloud of one person is too wide and too thick.The configuration we are using is
sensorStop flushCfg dfeDataOutputMode 1 channelCfg 15 7 0 adcCfg 2 1 adcbufCfg -1 0 1 1 1 lowPower 0 0 profileCfg 0 60.75 7 7 41.10 0 0 40 1 96 2950.00 0 0 24 chirpCfg 0 0 0 0 0 0 0 1 chirpCfg 1 1 0 0 0 0 0 2 chirpCfg 2 2 0 0 0 0 0 4 frameCfg 0 2 96 0 50 1 0 dynamicRACfarCfg -1 15 4 30 30 14 16 8 6 2.50 3.80 0.40 1 1 staticRACfarCfg -1 4 4 2 4 8 16 4 6 8.00 13.00 0.30 0 0 dynamicRangeAngleCfg -1 0.75 0.0010 1 0 dynamic2DAngleCfg -1 1.5 0.0300 1 0 1 0.50 0.85 8.00 staticRangeAngleCfg -1 1 8 4 antGeometry0 0 0 -1 -1 -2 -2 -3 -3 -2 -2 -3 -3 antGeometry1 0 -1 -1 0 0 -1 -1 0 -2 -3 -3 -2 antPhaseRot 1 -1 -1 1 1 -1 -1 1 1 -1 -1 1 fovCfg -1 70.0 20.0 compRangeBiasAndRxChanPhase 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 staticBoundaryBox -2 2 2 8.5 -2 2 boundaryBox -2.5 2.5 0.5 9 -2.5 2.5 sensorPosition 2 0 10 gatingParam 3 1.5 1.5 2 0 stateParam 3 3 10 40 5 600 allocationParam 200 800 0.1 15 0.5 20 maxAcceleration 0.1 0.1 0.1 trackingCfg 1 2 1000 20 67 105 50 sensorStart
I wonder if there is a way to make a balance.Which parameters should we modify?
Thank you!
