IWR6843AOPEVM: default processing and orientation of radar sensor data

Dear QumJo:

Are you getting your data to MATLAB via USB cable in a similar fashion to the OOB setup?

Best regards,

Connor Desmond

Hi QumJo

I don't know exactly what you mean with OOB. But I assume the answer is yes.

Thanks

QumJo:

OOB-> Out of Box Demo. Can you explain why you are using radar cube data?

Best regards,

Connor Desmond

Hi Connor

Pardon, Radar data cube is the wrong term. We are using Matlab and the pointcloud data provided.

The script we are using from the demo (from TI, called „area_scanner_visualizer“) reads as follows:

if(SETUP_VIA_GUI)

    hApp = setup_as(); %use _exported for 2017a support; setup_as() for 2019+

else

    % Manual/programmatic entry

    REAL_TIME_MODE = 1; %1 for from device 0 for playback from dat file

    ENABLE_RECORD = 0;

    datFile.path = '';

    datFile.name = 'areascanner_demo_uart_stream.txt';

    cfgFile.path = '';

    cfgFile.name = 'profile.cfg';

    logFile.path = '';

    logFile.name = 'areascanner_demo_uart_stream.txt';

    offset.height = 1.6;

    offset.el = 0;

    comPort.cfg = 5;

    comPort.data = 4;

    comPort.status = 0;

    zones.enable = 0;

    zones.criticalStart = 0;

    zones.criticalEnd = 1;

    zones.warnStart = 1;

    zones.warnEnd = 4;

    zones.projTime = 2;

end

offset.az = 0; % TODO need to add back azimuth offset for user input

So question is whether there are additional offsets calculated on the dsp or any other assumptions (e.g. a tilted sensor, mounting at a certain height) for this demo.  What are the origin positions for 'offset.height', 'offset.el' and ‚offset.az‘ and what is the sensors assumed orientation?

Thanks!

QumJo:

Here is a path which describes the coordinate system of the Detected Objects TLV aka Point Cloud.

<SDK INSTALL PATH>/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html

Best regards,

Connor Desmond

Hi Connor

Thanks for pointing out the location of this documentation. I understand now the coordinate system, but it is still not clear where is the origin in the real world and how should the parameters 'offset.height', 'offset.el' and ‚’offset.az‘ be used.

Could you please try to answer the following questions or point me to the relevant documentation:

1. Is the origin (0,0,0) assume to be on the ground/floor of the scene?

2. Do the angles φ and θ, as shown in the ‘Coordinate Geometry’ documentation, assumed to be zero?

3. Is 'offset.height' the offset on the z-axis from the origin? In what units?

4. Is 'offset.el' the offset of φ? In what units?

5. Is ‘offset.az' the offset of θ? In what units?

Thanks in advance!