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IWR6843ISK: Static object detection in ROS demo

Koichiro Tashiro
Mastermind 22935 points
Part Number: IWR6843ISK

Hi,

My customer is evaluating IWR6843ISK with mmWave Industrial Toolbox 4.5.1.
The Lab used is “ROS Point Cloud Visualizer”.

Customer followed User’s Guide and used “6843_multi_3d_0.launch” command.
He was able to see point cloud on the monitor.
But it seems only moving objects are displayed and if the object stop moving, it disappears.

I guess there is command to remove static objects in point cloud and it is enabled by default in this demo.
Could you tell me how to disable it and static objects can be seen on the monitor?

Thanks and regards,
Koichiro Tashiro

  • 0
    TI__Mastermind 30470 points

    Hello,

    The customer will have to edit the respective *.cfg file in the ti_mmwave_rospkg/cfg folder. By editing the "clutterRemoval" command, static objects can appear. 

    clutterRemoval 0 0

    For more information, please read "clutterRemoval" from Table 2 in the mmWave SDK User guide.