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Original question:

IWR1443BOOST: IWR1443Boost - Point Cloud Data

CCS/IWR1843BOOST: Sample code for receiving raw point cloud data from the sensor

First Last5
Prodigy 10 points
Part Number: IWR1843BOOST

Tool/software: Code Composer Studio

I recently bought an IWR1843BOOST board, and I would like to receive raw point cloud data over USB. By raw point cloud, I mean individual xyz coordinates each with depth and speed information in the entire field of vision of the mmwave radar. I have tried the demo visualizer, however, the demo doesn't output this information. The demo goes one step beyond my simple need for querying the raw data. The demo can detect objects or show a range-doppler map but I'm only interested in the raw points. I have looked at similar posts none of which have pointed me to any of these things:

  1. Sample code that would allow me to send this point cloud data over UART/USB
  2. An explanation on how I would go about retrieving the point cloud data and sending it over USB on my own

Any help regarding those two items or any additional resources would be much appreciated.

  • 0
    TI__Expert 7510 points

    Dear First Last5:

    The Out of Box Demo sends point cloud data to the Demo Visualizer. Located in the "Detected Objects TLV" ,in mss_main.c of the OOB Demo, point cloud data is sent out for each detected point. Specifically, this includes x,y,z, and relative velocity. The algorithm which determines whether a point is "detected" is CFAR. The parameters of this algorithm can be configured via CLI commands, refer to SDK User's Guide. The coordinate + velocity information for each detected object is then sent out over UART/USB. Please refer to mss_main.c. The structure of the TLV is specific to the OOB Demo, so if you want to add/ remove any of the data the is retrieved from the data processing chain the you can do that.

    1. Sample code that would allow me to send this point cloud data over UART/USB

    [CD]>> File: mss_main.c | Function: MmwDemo_transmitProcessedOutput()

    2. An explanation on how I would go about retrieving the point cloud data and sending it over USB on my own

    [CD]>> This is how point cloud data is sent out from the device in the OOB. Refer to the    UART_writePolling() UART driver API in the function mentioned above.

    Useful resources:

    SDK User's Guide

    <SDK INSTALL PATH>\mmwave_sdk_03_04_00_03\docs\mmwave_sdk_user_guide.pdf

    Dectected Object TLV Structure + Explanation.

    <SDK INSTALL PATH>/mmwave_sdk_03_04_00_03/packages/ti/demo/xwr18xx/mmw/docs/doxygen/html/index.html

    Best regards,

    Connor Desmond.