IWR6843: TLV Parser

Srikanth Katakam1

Part Number: IWR6843

Dear Support Team,

I am working on a people count project with custom board(MCU with Wi-Fi + IWR6843). currently, I am using a prebuilt binary file, which is available in Industrial Toolbox-3.6.2 and Lab15. I have received the TLV data coming from IWR6843 and stored it in a text file. I want to parse this TLV data into the number of people is detected, distance from the sensor, angle, and velocity. Here I have attached the TLV data text file for your reference.

Fullscreen TLV_Data.txt Download

02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 3F A1 AC 15 DC 00 00 00 02 00 00 00 00 00 00 00 4E 00 00 00 92 4D 00 00 37 00 00 00 65 0A 00 00 01 00 50 C6 06 00 00 00 A8 00 00 00 6A F8 B0 40 88 4E B8 BE 18 4D 5A BF 5D 57 26 41 6A F8 B0 40 36 8D A7 BE 18 4D 5A BF C0 0E 18 41 9F 1D 11 40 7F 92 6A BE A1 74 C6 BF 1B 50 30 41 88 93 0D 40 DB 0F C9 BD B4 C3 9E 3D 40 04 3B 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 58 4E 16 41 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D CC CA 44 41 E3 BB 1B 40 92 0A 86 BD B4 C3 9E 3D D7 BD 0D 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D 32 FC 70 41 CC 31 18 40 00 00 00 00 B4 C3 9E 3D 7E BF 4A 41 CC 31 18 40 92 0A 06 3D B4 C3 9E 3D 0E 07 08 41 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 DE 62 46 16 2C 02 00 00 03 00 00 00 00 00 00 00 4E 00 00 00 D2 4D 00 00 46 00 00 00 B1 09 00 00 01 00 2C 03 06 00 00 00 F8 01 00 00 E3 BB 1B 40 92 0A 86 BE B4 C3 1E 3E B1 DA D1 40 45 F5 02 40 7F 92 6A BE 0D A6 2D C0 A3 A6 3C 41 CC 31 18 40 7F 92 6A BE B4 C3 9E 3D E5 0A C3 40 E3 BB 1B 40 7F 92 6A BE B4 C3 1E 3E 01 F3 17 41 5C D6 FE 3F DB 0F 49 BE 20 F5 05 C0 DA 79 7C 41 45 F5 02 40 DB 0F 49 BE B4 C3 1E C0 41 5F 82 41 B6 A7 14 40 DB 0F 49 BE 8E 25 6E BF 66 55 C3 40 CC 31 18 40 DB 0F 49 BE B4 C3 9E 3D EC 92 05 41 E3 BB 1B 40 DB 0F 49 BE 8E 25 6E 3E F0 A0 44 41 5C D6 FE 3F 36 8D 27 BE A1 74 C6 BF 08 DB B1 41 45 F5 02 40 36 8D 27 BE DC 60 D0 BF C8 2C A4 41 88 93 0D 40 36 8D 27 BE 8E 25 6E BE EA A9 48 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E BD 88 5D 0C 41 CC 31 18 40 36 8D 27 BE B4 C3 9E 3D A2 7A 0B 41 E3 BB 1B 40 36 8D 27 BE B4 C3 9E BD C1 EF 59 41 5C D6 FE 3F 92 0A 06 BE A1 74 C6 BF 4A 51 D6 41 45 F5 02 40 92 0A 06 BE A1 74 46 BF 75 85 AE 41 88 93 0D 40 92 0A 06 BE 8E 25 6E BE 0B CF 8D 41 B6 A7 14 40 92 0A 06 BE B4 C3 9E BD ED B4 23 41 CC 31 18 40 92 0A 06 BE 3E EB 0A 3F E4 71 E2 40 E3 BB 1B 40 92 0A 06 BE B4 C3 9E 3D 33 3B 44 41 5C D6 FE 3F DB 0F C9 BD A1 74 46 BF 81 6C C8 41 45 F5 02 40 DB 0F C9 BD A1 74 46 BF AB 2F 95 41 88 93 0D 40 DB 0F C9 BD B4 C3 9E BD 6E FE 86 41 B6 A7 14 40 DB 0F C9 BD B4 C3 9E BD 51 BA 0C 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 2C 31 0A 41 5C D6 FE 3F 92 0A 86 BD A1 74 46 BF CD 77 8E 41 45 F5 02 40 92 0A 86 BD A1 74 46 BF 71 E4 55 41 88 93 0D 40 92 0A 86 BD B4 C3 9E BD DA D5 47 41 B6 A7 14 40 92 0A 86 BD B4 C3 9E BD DF DE BF 40 5C D6 FE 3F 92 0A 06 BD A1 74 46 BF C2 ED 2E 41 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 90 EA DE 16 EC 01 00 00 04 00 00 00 00 00 00 00 4E 00 00 00 5C 4C 00 00 91 02 00 00 6D 18 00 00 01 00 8F 6B 06 00 00 00 B8 01 00 00 72 09 0A 40 DB 0F C9 BE A5 48 9C 40 C5 74 83 41 88 93 0D 40 DB 0F C9 BE 88 52 97 C0 CF 73 67 41 5F 33 AF 40 DB 0F C9 BE 3E EB 0A BF 41 23 13 41 72 09 0A 40 88 4E B8 BE A5 48 9C 40 75 77 BA 41 88 93 0D 40 88 4E B8 BE 88 52 97 C0 11 A6 89 41 F9 45 1F 40 88 4E B8 BE B4 C3 9E BD BA 1C F2 40 D8 F6 99 40 88 4E B8 BE 20 F5 85 C0 9D BF 3A 41 E3 BB 9B 40 88 4E B8 BE 70 2F 69 C0 A2 08 22 41 5F 33 AF 40 88 4E B8 BE 8E 25 EE BE BA 42 7B 41 6A F8 B0 40 88 4E B8 BE 8E 25 EE BE 11 03 03 41 72 09 0A 40 36 8D A7 BE 35 43 5F C0 9E 7B CB 41 88 93 0D 40 36 8D A7 BE 53 39 E4 BF C5 3D A0 41 9F 1D 11 40 36 8D A7 BE A1 74 46 C0 C3 2B 18 41 E3 BB 1B 40 36 8D A7 BE B4 C3 9E BD F8 00 E9 40 F9 45 1F 40 36 8D A7 BE B4 C3 9E 3D D6 40 10 41 D8 F6 99 40 36 8D A7 BE 20 F5 85 C0 E3 9F 73 41 E3 BB 9B 40 36 8D A7 BE 70 2F 69 C0 2F EC 5D 41 5F 33 AF 40 36 8D A7 BE 8E 25 EE BE 10 09 3B 41 72 09 0A 40 E4 CB 96 BE 83 7E 41 C0 82 5A AB 41 88 93 0D 40 E4 CB 96 BE 53 39 E4 BF 36 A6 B3 41 9F 1D 11 40 E4 CB 96 BE A1 74 46 C0 20 B5 2D 41 E3 BB 1B 40 E4 CB 96 BE B4 C3 9E BD 06 18 FC 40 F9 45 1F 40 E4 CB 96 BE B4 C3 9E 3D 4E FC 0C 41 D8 F6 99 40 E4 CB 96 BE 8E 25 EE BF CC 30 81 41 E3 BB 9B 40 E4 CB 96 BE 70 2F 69 C0 59 10 7F 41 D8 F6 99 40 92 0A 86 BE 8E 25 EE BF 33 37 5A 41 E3 BB 9B 40 92 0A 86 BE 53 39 E4 BF 2D 96 61 41 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 87 0C 77 17 9C 01 00 00 05 00 00 00 00 00 00 00 4E 00 00 00 6D 4C 00 00 40 01 00 00 9E 15 00 00 01 00 5E 4D 06 00 00 00 68 01 00 00 5C D6 FE 3F 92 0A 06 BE 18 4D 5A BF 52 FB 81 41 F9 45 1F 40 92 0A 06 BE B4 C3 9E 3D DF A2 FE 40 5C D6 FE 3F DB 0F C9 BD 18 4D 5A BF 85 84 CD 41 45 F5 02 40 DB 0F C9 BD 8E 25 EE BE 69 DA 29 41 88 93 0D 40 DB 0F C9 BD B4 C3 1E 3E DB 22 36 41 B6 A7 14 40 DB 0F C9 BD B4 C3 9E 3D E1 6D C8 40 CC 31 18 40 DB 0F C9 BD B4 C3 9E 3D 49 00 DE 40 F9 45 1F 40 DB 0F C9 BD B4 C3 9E 3D 51 29 EE 40 5C D6 FE 3F 92 0A 86 BD 8E 25 EE BE 4E E6 AE 41 45 F5 02 40 92 0A 86 BD 8E 25 EE BE E4 41 1C 41 88 93 0D 40 92 0A 86 BD B4 C3 1E 3E DE A9 22 41 9F 1D 11 40 92 0A 86 BD B4 C3 9E 3D 32 98 F7 40 B6 A7 14 40 92 0A 86 BD B4 C3 9E 3D 1C FD EB 40 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D B1 11 2B 41 5C D6 FE 3F 92 0A 06 BD 8E 25 6E 3E F7 F8 52 41 9F 1D 11 40 92 0A 06 BD B4 C3 9E 3D 84 F2 28 41 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 07 1A 0C 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D 3D 8F 32 41 9F 1D 11 40 00 00 00 00 B4 C3 9E 3D 9F 15 0B 41 B6 A7 14 40 00 00 00 00 B4 C3 9E 3D 08 4F 26 41 CC 31 18 40 00 00 00 00 B4 C3 9E 3D 5C 15 EC 40 B6 A7 14 40 92 0A 06 3D B4 C3 9E 3D 86 F3 06 41 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 F3 45 0F 18 2C 01 00 00 06 00 00 00 00 00 00 00 4E 00 00 00 01 4D 00 00 45 01 00 00 1C 12 00 00 01 00 B2 16 06 00 00 00 F8 00 00 00 E3 BB 1B 40 E4 CB 96 BE B4 C3 9E BD 50 2F EC 40 E3 BB 1B 40 92 0A 86 BE B4 C3 9E 3D 14 B5 17 41 F9 45 1F 40 92 0A 86 BE B4 C3 9E BD 90 98 E4 40 E3 BB 1B 40 7F 92 6A BE B4 C3 9E 3D 65 BB 1F 41 F9 45 1F 40 7F 92 6A BE B4 C3 9E BD DF CB F6 40 88 93 0D 40 DB 0F 49 BE 8E 25 6E BF E1 E6 41 41 B6 A7 14 40 DB 0F 49 BE 3E EB 0A BF B9 F7 C6 40 CC 31 18 40 DB 0F 49 BE B4 C3 9E BD 0A B1 11 41 E3 BB 1B 40 DB 0F 49 BE 8E 25 6E BE 7B D0 18 41 F9 45 1F 40 DB 0F 49 BE B4 C3 9E BD EE 11 F4 40 88 93 0D 40 36 8D 27 BE 8E 25 6E BF 65 2E 75 41 B6 A7 14 40 36 8D 27 BE 8E 25 EE BE 90 07 DD 40 CC 31 18 40 36 8D 27 BE B4 C3 9E BD 91 CF 1B 41 88 93 0D 40 92 0A 06 BE B4 C3 9E BE E5 88 73 41 CC 31 18 40 92 0A 06 BE B4 C3 9E BD A6 C8 DA 40 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 FB C5 A7 18 1C 01 00 00 07 00 00 00 00 00 00 00 4E 00 00 00 75 4D 00 00 9C 00 00 00 33 0D 00 00 01 00 3E 9B 06 00 00 00 E8 00 00 00 6A F8 B0 40 DB 0F C9 BE 3E EB 0A BF 26 AA 20 41 5F 33 AF 40 88 4E B8 BE 3E EB 0A BF 35 6E 92 41 6A F8 B0 40 88 4E B8 BE 3E EB 0A BF FC F6 5E 41 88 93 0D 40 36 8D A7 BE FA 56 55 C0 64 CE 1B 41 9F 1D 11 40 36 8D A7 BE 70 2F 69 C0 D7 33 01 41 5F 33 AF 40 36 8D A7 BE A1 74 C6 BE DB 53 85 41 6A F8 B0 40 36 8D A7 BE 3E EB 0A BF 42 07 44 41 88 93 0D 40 E4 CB 96 BE A1 74 C6 BF 18 77 4A 41 9F 1D 11 40 E4 CB 96 BE A1 74 C6 BF 09 F3 39 41 88 93 0D 40 92 0A 86 BE A1 74 C6 BF BE 21 64 41 9F 1D 11 40 92 0A 86 BE A1 74 C6 BF 83 06 5A 41 E3 BB 9B 40 92 0A 86 BE 53 39 E4 BF C4 B7 04 41 88 93 0D 40 7F 92 6A BE A1 74 C6 BF 5B 00 5B 41 9F 1D 11 40 7F 92 6A BE A1 74 C6 BF 8B C3 3F 41 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 76 73 41 19 5C 02 00 00 08 00 00 00 00 00 00 00 4E 00 00 00 91 4D 00 00 6B 00 00 00 7F 0C 00 00 01 00 B1 EC 06 00 00 00 28 02 00 00 45 F5 02 40 7F 92 6A BE 0D A6 2D C0 98 B9 44 41 CC 31 18 40 7F 92 6A BE B4 C3 9E 3D 02 7F B5 40 5C D6 FE 3F DB 0F 49 BE 20 F5 05 C0 33 D1 80 41 45 F5 02 40 DB 0F 49 BE B4 C3 1E C0 26 6F 86 41 CC 31 18 40 DB 0F 49 BE B4 C3 9E 3D 64 62 FA 40 5C D6 FE 3F 36 8D 27 BE 20 F5 05 C0 F7 1F B4 41 45 F5 02 40 36 8D 27 BE 18 4D 5A BF 3F 27 97 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E BD 07 13 E7 40 CC 31 18 40 36 8D 27 BE B4 C3 9E 3D 95 91 0E 41 5C D6 FE 3F 92 0A 06 BE A1 74 C6 BE 6A 1B D5 41 45 F5 02 40 92 0A 06 BE 18 4D 5A BF 3C 09 8B 41 88 93 0D 40 92 0A 06 BE 8E 25 6E BE A7 F7 26 41 9F 1D 11 40 92 0A 06 BE B4 C3 9E BE 44 D8 B6 40 B6 A7 14 40 92 0A 06 BE B4 C3 9E BD 6E 74 06 41 CC 31 18 40 92 0A 06 BE B4 C3 9E 3D 03 8E 07 41 E3 BB 1B 40 92 0A 06 BE B4 C3 9E BD B7 5E FF 40 F9 45 1F 40 92 0A 06 BE B4 C3 9E 3D F8 F8 E7 40 5C D6 FE 3F DB 0F C9 BD A1 74 C6 BE F8 1D CE 41 45 F5 02 40 DB 0F C9 BD A1 74 C6 BE 4D E0 5F 41 88 93 0D 40 DB 0F C9 BD 8E 25 6E BE 50 01 54 41 9F 1D 11 40 DB 0F C9 BD B4 C3 9E BD 25 3F DF 40 B6 A7 14 40 DB 0F C9 BD B4 C3 1E BE CD 3A 0E 41 CC 31 18 40 DB 0F C9 BD B4 C3 9E 3D 5D AA F6 40 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D F4 E3 EF 40 5C D6 FE 3F 92 0A 86 BD A1 74 C6 BE 62 9D A1 41 88 93 0D 40 92 0A 86 BD B4 C3 9E 3D CF 3D 30 41 9F 1D 11 40 92 0A 86 BD B4 C3 9E BD D6 84 F3 40 B6 A7 14 40 92 0A 86 BD B4 C3 1E BE 62 E1 01 41 CC 31 18 40 92 0A 86 BD B4 C3 1E 3E D5 6A E9 40 5C D6 FE 3F 92 0A 06 BD A1 74 C6 BE BB 69 57 41 9F 1D 11 40 92 0A 06 BD B4 C3 9E BD 95 9A EB 40 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 6A A3 C3 40 CC 31 18 40 92 0A 06 BD B4 C3 1E 3E 5C DD DF 40 CC 31 18 40 00 00 00 00 B4 C3 1E 3E 34 3E C5 40 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 25 85 D9 19 02 02 00 00 09 00 00 00 00 00 00 00 4E 00 00 00 34 4C 00 00 AF 00 00 00 88 1A 00 00 03 00 D1 CD 06 00 00 00 58 01 00 00 72 09 0A 40 DB 0F C9 BE 6A 5C 92 C0 2D 37 7C 41 5F 33 AF 40 DB 0F C9 BE 8E 25 EE BE 0A 03 07 41 72 09 0A 40 88 4E B8 BE 6A 5C 92 C0 5F 01 A4 41 88 93 0D 40 88 4E B8 BE 88 52 97 C0 9F 4D 83 41 F9 45 1F 40 88 4E B8 BE B4 C3 9E 3D 57 0D 0E 41 D8 F6 99 40 88 4E B8 BE 11 7A 83 C0 E6 B7 41 41 E3 BB 9B 40 88 4E B8 BE 48 92 37 C0 2E DD 1A 41 5F 33 AF 40 88 4E B8 BE 8E 25 EE BE 5A 24 6B 41 72 09 0A 40 36 8D A7 BE 6A 5C 92 C0 DD 4C AA 41 F9 45 1F 40 36 8D A7 BE B4 C3 9E 3D 9D 56 22 41 D8 F6 99 40 36 8D A7 BE 53 39 64 C0 A2 28 88 41 E3 BB 9B 40 36 8D A7 BE 48 92 37 C0 61 7D 5D 41 5F 33 AF 40 36 8D A7 BE 8E 25 EE BE AC F7 34 41 72 09 0A 40 E4 CB 96 BE FA 56 55 C0 7C D3 8F 41 E3 BB 1B 40 E4 CB 96 BE B4 C3 9E BD 73 E2 F6 40 F9 45 1F 40 E4 CB 96 BE B4 C3 9E 3D E5 BC 17 41 D8 F6 99 40 E4 CB 96 BE 53 39 64 C0 21 C4 93 41 E3 BB 9B 40 E4 CB 96 BE 48 92 37 C0 34 63 7A 41 E3 BB 1B 40 92 0A 86 BE B4 C3 9E BD 18 3E F2 40 D8 F6 99 40 92 0A 86 BE 18 4D DA BF 14 F0 73 41 E3 BB 9B 40 92 0A 86 BE 48 92 37 C0 6E 9A 59 41 07 00 00 00 4C 00 00 00 00 00 00 00 F1 36 76 BE C5 66 0D 40 32 DD 3B 3D 00 C8 D7 BE 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 40 40 08 00 00 00 2A 00 00 00 00 FF 00 00 FF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 63 BD 71 1A D5 01 00 00 0A 00 00 00 00 00 00 00 4E 00 00 00 D9 4C 00 00 F1 00 00 00 92 16 00 00 03 00 36 98 06 00 00 00 38 01 00 00 9F 1D 11 40 DB 0F 49 BE A1 74 C6 BF 72 8B 12 41 9F 1D 11 40 36 8D 27 BE A1 74 C6 BF 68 F7 1E 41 88 93 0D 40 92 0A 06 BE B4 C3 1E 3E 38 89 08 41 9F 1D 11 40 92 0A 06 BE B4 C3 1E 3E 82 95 2C 41 88 93 0D 40 DB 0F C9 BD B4 C3 1E 3E C3 64 34 41 9F 1D 11 40 DB 0F C9 BD B4 C3 1E 3E 48 35 3A 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 19 9B CA 40 F9 45 1F 40 DB 0F C9 BD B4 C3 9E 3D 9E 9C BD 40 88 93 0D 40 92 0A 86 BD B4 C3 1E 3E 94 75 1E 41 9F 1D 11 40 92 0A 86 BD B4 C3 9E 3D 32 9B 35 41 B6 A7 14 40 92 0A 86 BD B4 C3 9E 3D CA 56 1B 41 CC 31 18 40 92 0A 86 BD B4 C3 9E BD EA A4 18 41 E3 BB 1B 40 92 0A 86 BD B4 C3 9E 3D EF F9 C8 40 F9 45 1F 40 92 0A 86 BD B4 C3 9E 3D 72 11 BE 40 9F 1D 11 40 92 0A 06 BD B4 C3 9E 3D 3C FB 11 41 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 09 10 29 41 CC 31 18 40 92 0A 06 BD B4 C3 9E BD B3 69 32 41 B6 A7 14 40 00 00 00 00 B4 C3 9E 3D D2 F6 02 41 CC 31 18 40 00 00 00 00 B4 C3 9E 3D DE 8A EB 40 07 00 00 00 4C 00 00 00 00 00 00 00 EA 33 89 BE E3 B9 0B 40 65 22 0D BF 6B 45 06 BF 2E D2 E5 BC 71 58 1D BD DF E4 21 41 FF 52 B8 BF E5 37 71 BE FF 52 B8 BF 9B C5 64 42 65 38 DF BE E5 37 71 BE 65 38 DF BE C4 1D 9A 3E 00 00 40 40 08 00 00 00 1D 00 00 00 FF FF FF FF FF FF FF FF 00 FF FF FF FF 00 00 00 FF FF 00 FF FF 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 90 94 0A 1B 03 02 00 00 0B 00 00 00 00 00 00 00 4E 00 00 00 51 4D 00 00 99 00 00 00 99 14 00 00 03 00 1A C2 06 00 00 00 68 01 00 00 E3 BB 1B 40 92 0A 86 BE B4 C3 1E 3E 68 28 D8 40 5C D6 FE 3F 7F 92 6A BE D2 B9 23 C0 F2 EE 1E 41 E3 BB 1B 40 7F 92 6A BE B4 C3 1E 3E E0 03 10 41 5C D6 FE 3F DB 0F 49 BE 3E EB 0A C0 42 41 5D 41 45 F5 02 40 DB 0F 49 BE 5B E1 0F C0 A7 FA 35 41 88 93 0D 40 DB 0F 49 BE 3E EB 8A BF 88 F9 02 41 B6 A7 14 40 DB 0F 49 BE B4 C3 9E 3D 64 E1 B7 40 CC 31 18 40 DB 0F 49 BE B4 C3 9E BD F9 80 00 41 E3 BB 1B 40 DB 0F 49 BE 8E 25 6E 3E 5A F6 1F 41 5C D6 FE 3F 36 8D 27 BE 3E EB 0A C0 40 1E 33 41 45 F5 02 40 36 8D 27 BE 5B E1 0F C0 0D 06 26 41 88 93 0D 40 36 8D 27 BE B4 C3 9E BE C3 89 54 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E 3D 2C D9 F8 40 CC 31 18 40 36 8D 27 BE B4 C3 9E 3D 8B F5 0D 41 E3 BB 1B 40 36 8D 27 BE 8E 25 6E BE A7 E9 12 41 88 93 0D 40 92 0A 06 BE B4 C3 9E BD 17 A8 8E 41 B6 A7 14 40 92 0A 06 BE B4 C3 9E 3D 32 5A 01 41 CC 31 18 40 92 0A 06 BE B4 C3 9E 3D 87 D1 CD 40 E3 BB 1B 40 92 0A 06 BE 8E 25 6E BE 3A 0E F0 40 88 93 0D 40 DB 0F C9 BD B4 C3 9E BD 31 64 86 41 B6 A7 14 40 DB 0F C9 BD B4 C3 9E 3D 40 0F F3 40 88 93 0D 40 92 0A 86 BD B4 C3 9E BD B6 26 48 41 07 00 00 00 4C 00 00 00 00 00 00 00 FE F3 6F BE C8 CB 0B 40 70 09 7F 3D 9A 34 79 BE 9A 7F B8 3C 68 0A 1A 3E F2 05 22 41 80 B4 CD BF 44 59 BB BD 80 B4 CD BF 83 BA 66 42 3C F7 E2 BD 44 59 BB BD 3C F7 E2 BD 18 57 9A 3D 00 00 40 40 08 00 00 00 1B 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 F8 C3 A2 1B 66 01 00 00 0C 00 00 00 00 00 00 00 4E 00 00 00 FF 4C 00 00 A3 00 00 00 9E 16 00 00 03 00 F9 90 06 00 00 00 C8 00 00 00 72 09 0A 40 88 4E B8 BE 2F 70 88 C0 10 35 54 41 E3 BB 9B 40 88 4E B8 BE 70 2F 69 C0 10 C0 12 41 5F 33 AF 40 88 4E B8 BE 3E EB 0A BF 48 73 76 41 6A F8 B0 40 88 4E B8 BE 8E 25 EE BE C4 61 4B 41 72 09 0A 40 36 8D A7 BE BF 6A 4B C0 1F DB 75 41 D8 F6 99 40 36 8D A7 BE AC 1B 73 C0 D4 A5 3D 41 E3 BB 9B 40 36 8D A7 BE 70 2F 69 C0 B5 65 40 41 5F 33 AF 40 36 8D A7 BE 8E 25 6E BE AB 42 67 41 6A F8 B0 40 36 8D A7 BE A1 74 C6 BE C6 85 26 41 72 09 0A 40 E4 CB 96 BE BF 6A 4B C0 23 D6 54 41 D8 F6 99 40 E4 CB 96 BE AC 1B 73 C0 52 EE 56 41 E3 BB 9B 40 E4 CB 96 BE 53 39 E4 BF 42 E3 4D 41 07 00 00 00 4C 00 00 00 00 00 00 00 ED 9D 9B BE 01 03 0B 40 6A 49 DC BE 49 8C 74 BE 18 37 BF BD 0C 6B 09 3E F6 4E 39 41 1D 84 96 BF 0D 1B 59 BD 1D 84 96 BF 81 0F 5D 42 17 05 AA BD 0D 1B 59 BD 17 05 AA BD BF EA A1 3D 00 00 40 40 08 00 00 00 1E 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 6B 64 3C 1C BC 02 00 00 0D 00 00 00 00 00 00 00 4E 00 00 00 7F 4D 00 00 8B 00 00 00 BB 0F 00 00 03 00 10 F5 06 00 00 00 28 02 00 00 5C D6 FE 3F DB 0F 49 BE 5B E1 0F C0 39 8B 61 41 45 F5 02 40 DB 0F 49 BE 20 F5 05 C0 FB AF 3B 41 B6 A7 14 40 DB 0F 49 BE B4 C3 9E BD CE FF B0 40 5C D6 FE 3F 36 8D 27 BE 5B E1 0F C0 81 73 97 41 45 F5 02 40 36 8D 27 BE 20 F5 05 C0 AE E5 67 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E BD DF 18 DE 40 CC 31 18 40 36 8D 27 BE B4 C3 9E 3D 3C 3B EB 40 F9 45 1F 40 36 8D 27 BE B4 C3 9E 3D 59 62 0C 41 5C D6 FE 3F 92 0A 06 BE 18 4D DA BF 87 C2 B7 41 45 F5 02 40 92 0A 06 BE 8E 25 6E BF 0A B9 72 41 88 93 0D 40 92 0A 06 BE B4 C3 1E 3E A3 E0 18 41 B6 A7 14 40 92 0A 06 BE B4 C3 9E BD F8 32 FB 40 CC 31 18 40 92 0A 06 BE B4 C3 9E 3D E8 9C 04 41 E3 BB 1B 40 92 0A 06 BE B4 C3 9E 3D 7A CD E6 40 F9 45 1F 40 92 0A 06 BE B4 C3 9E 3D 67 9F 16 41 5C D6 FE 3F DB 0F C9 BD A1 74 C6 BE 02 76 C6 41 45 F5 02 40 DB 0F C9 BD 8E 25 6E BF 76 97 58 41 88 93 0D 40 DB 0F C9 BD B4 C3 1E 3E 72 C1 1E 41 9F 1D 11 40 DB 0F C9 BD A1 74 C6 BF BC BF C5 40 B6 A7 14 40 DB 0F C9 BD B4 C3 9E BD EC 52 06 41 CC 31 18 40 DB 0F C9 BD B4 C3 9E 3D F1 60 11 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D FB 36 16 41 F9 45 1F 40 DB 0F C9 BD B4 C3 9E 3D 6B F3 C9 40 5C D6 FE 3F 92 0A 86 BD A1 74 46 BF A6 05 B2 41 9F 1D 11 40 92 0A 86 BD B4 C3 9E 3D 7B FC FA 40 B6 A7 14 40 92 0A 86 BD B4 C3 9E 3D 95 F3 0E 41 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D 13 DA 1E 41 E3 BB 1B 40 92 0A 86 BD B4 C3 9E 3D C8 9E DC 40 5C D6 FE 3F 92 0A 06 BD A1 74 46 BF 33 53 80 41 9F 1D 11 40 92 0A 06 BD B4 C3 9E 3D 60 A3 FA 40 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 50 6D 12 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D EB 63 1D 41 B6 A7 14 40 00 00 00 00 B4 C3 9E 3D 1D B9 01 41 CC 31 18 40 00 00 00 00 B4 C3 9E BD 48 E7 F6 40 07 00 00 00 4C 00 00 00 00 00 00 00 C9 18 BD BE 07 5B 09 40 DA 02 2A BF C6 95 A3 BE 08 30 4B BE BC BE 1A BD E1 8B 2E 41 72 60 89 BE 03 F0 CF BD 72 60 89 BE 4D A7 5F 42 18 F7 7E BD 03 F0 CF BD 18 F7 7E BD DC 65 A2 3D 00 00 40 40 08 00 00 00 14 00 00 00 00 FF FF FF 00 FF FF FF FF 00 FF FF 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 A1 15 D4 1C A2 01 00 00 0E 00 00 00 00 00 00 00 4E 00 00 00 34 4C 00 00 CF 00 00 00 BB 1E 00 00 03 00 63 36 06 00 00 00 F8 00 00 00 72 09 0A 40 2D D1 D9 BE 96 CD 99 C0 DF 69 62 41 88 93 0D 40 2D D1 D9 BE 2F 70 88 40 8B F2 46 41 72 09 0A 40 DB 0F C9 BE E7 07 7D C0 5C 4F 97 41 72 09 0A 40 88 4E B8 BE E7 07 7D C0 01 4E 99 41 D8 F6 99 40 88 4E B8 BE 70 2F 69 C0 B3 D4 4A 41 E3 BB 9B 40 88 4E B8 BE AC 1B 73 C0 E1 8C 13 41 F9 45 1F 40 36 8D A7 BE B4 C3 9E 3D 3C CA 0B 41 D8 F6 99 40 36 8D A7 BE 70 2F 69 C0 82 73 70 41 E3 BB 9B 40 36 8D A7 BE 2A 9C 32 C0 27 ED 14 41 E3 BB 1B 40 E4 CB 96 BE B4 C3 9E BD 31 5A 18 41 F9 45 1F 40 E4 CB 96 BE B4 C3 1E 3E FE 4A 0B 41 D8 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DB 0F C9 BD B4 C3 9E 3E FF 65 4F 41 9F 1D 11 40 92 0A 86 BD B4 C3 9E 3D CB 13 10 41 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D F9 01 24 41 9F 1D 11 40 92 0A 06 BD B4 C3 9E 3D 9D BB 05 41 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D B9 1A 0E 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D 76 2A 58 41 B6 A7 14 40 00 00 00 00 B4 C3 9E 3D 10 94 02 41 CC 31 18 40 00 00 00 00 B4 C3 9E 3D D4 B5 19 41 07 00 00 00 4C 00 00 00 00 00 00 00 8D EA D2 BE 59 74 0A 40 BE BF 93 BE F0 D1 2C 3D 40 38 2E BE 18 86 A9 3E F7 D8 12 41 18 EE 3A BE 01 D3 2D BD 18 EE 3A BE 15 DA DF 41 44 FA 83 BC 01 D3 2D BD 44 FA 83 BC C0 6A 0C 3D 00 00 40 40 08 00 00 00 1F 00 00 00 00 00 00 00 00 00 FF FF FF FF 00 00 00 FF FF FF FF 00 FF FF 00 FF FF 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 9C 47 CA 22 F9 01 00 00 18 00 00 00 00 00 00 00 4E 00 00 00 DE 4D 00 00 79 00 00 00 AC 0D 00 00 03 00 CC 0D 06 00 00 00 68 01 00 00 E3 BB 1B 40 92 0A 86 BE B4 C3 9E BD A9 F8 02 41 5C D6 FE 3F 7F 92 6A BE 96 CD 19 C0 AD 7F 21 41 CC 31 18 40 7F 92 6A BE B4 C3 9E BD FF 68 CE 40 E3 BB 1B 40 7F 92 6A BE B4 C3 9E BD 69 2C 2E 41 5C D6 FE 3F DB 0F 49 BE 02 FF 00 C0 C8 A1 61 41 45 F5 02 40 DB 0F 49 BE 20 F5 05 C0 AE 23 33 41 B6 A7 14 40 DB 0F 49 BE B4 C3 1E BF A8 DE EF 40 CC 31 18 40 DB 0F 49 BE B4 C3 9E BD 88 10 02 41 E3 BB 1B 40 DB 0F 49 BE 8E 25 6E BE DE DB 41 41 F9 45 1F 40 DB 0F 49 BE B4 C3 9E BD 4A 08 DA 40 5C D6 FE 3F 36 8D 27 BE 02 FF 00 C0 05 3F 4C 41 45 F5 02 40 36 8D 27 BE 20 F5 05 C0 0A D0 27 41 88 93 0D 40 36 8D 27 BE 18 4D 5A BF 2F 16 49 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E 3D FB 24 14 41 CC 31 18 40 36 8D 27 BE B4 C3 9E 3D 42 63 DF 40 E3 BB 1B 40 36 8D 27 BE B4 C3 9E 3D 44 2B 32 41 F9 45 1F 40 36 8D 27 BE B4 C3 9E BD E7 15 E4 40 88 93 0D 40 92 0A 06 BE 2A 9C 32 BF DA 91 82 41 B6 A7 14 40 92 0A 06 BE 8E 25 6E BE DE 2C 09 41 E3 BB 1B 40 92 0A 06 BE B4 C3 9E 3D 01 38 10 41 88 93 0D 40 DB 0F C9 BD B4 C3 9E BD CF E1 67 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 7C 2E DB 40 07 00 00 00 4C 00 00 00 00 00 00 00 C7 C0 BB BE 2C 8F 0C 40 A8 5E 3E BD D2 AE 43 3E AF DF A7 3E F0 96 1B 3F 1F 63 1C 41 49 AD 19 BF 08 55 57 BC 49 AD 19 BF E0 9B E5 41 7A 92 02 3C 08 55 57 BC 7A 92 02 3C 45 5D C4 3C 00 00 40 40 08 00 00 00 11 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 1A 77 62 23 76 01 00 00 19 00 00 00 00 00 00 00 4E 00 00 00 ED 4C 00 00 A3 00 00 00 2E 16 00 00 03 00 7C D6 06 00 00 00 D8 00 00 00 72 09 0A 40 DB 0F C9 BE B4 C3 9E 3D AA 60 5C 41 5F 33 AF 40 DB 0F C9 BE 3E EB 0A BF D4 ED 21 41 72 09 0A 40 88 4E B8 BE B4 C3 9E 3D 4D FF 92 41 D8 F6 99 40 88 4E B8 BE E7 07 7D C0 E9 CE 18 41 E3 BB 9B 40 88 4E B8 BE 02 FF 80 C0 C1 26 00 41 5F 33 AF 40 88 4E B8 BE 3E EB 0A BF C3 3A 94 41 72 09 0A 40 36 8D A7 BE C9 11 78 C0 9D 4C A1 41 27 5A 26 40 36 8D A7 BE B4 C3 9E 3D 57 E6 E8 40 D8 F6 99 40 36 8D A7 BE E7 07 7D C0 CF 9B 26 41 E3 BB 9B 40 36 8D A7 BE BF 6A 4B C0 0D 0D 20 41 5F 33 AF 40 36 8D A7 BE 3E EB 0A BF 6E C0 52 41 72 09 0A 40 E4 CB 96 BE 20 F5 05 C0 33 B7 8E 41 E3 BB 9B 40 E4 CB 96 BE 48 92 37 C0 7E 4E 0B 41 07 00 00 00 4C 00 00 00 00 00 00 00 AE ED C0 BE 4C 89 0D 40 ED 61 7C BD 7C 1B 6C 3E 6B AC 8A 3E CD 5E 1A 3F 4B 93 27 41 6E 7E 1D BF 69 50 4F BC 6E 7E 1D BF C7 96 E8 41 7A B9 F2 3B 69 50 4F BC 7A B9 F2 3B BD 69 D8 3C 00 00 40 40 08 00 00 00 1E 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 2B 4B FC 23 0D 03 00 00 1A 00 00 00 00 00 00 00 4E 00 00 00 6D 4D 00 00 8F 00 00 00 6F 10 00 00 03 00 8D 05 06 00 00 00 78 02 00 00 5C D6 FE 3F 7F 92 6A BE 3E EB 0A C0 B1 4B 41 41 5C D6 FE 3F DB 0F 49 BE 3E EB 0A C0 93 03 8F 41 45 F5 02 40 DB 0F 49 BE 96 CD 19 C0 1D 60 4B 41 B6 A7 14 40 DB 0F 49 BE B4 C3 9E BD D4 30 C7 40 66 44 88 40 DB 0F 49 BE 96 CD 19 C0 4D F1 0D 41 5C D6 FE 3F 36 8D 27 BE 53 39 E4 BF 17 98 C3 41 45 F5 02 40 36 8D 27 BE DC 60 D0 BF 7C 62 6F 41 B6 A7 14 40 36 8D 27 BE B4 C3 9E BD 69 CC EE 40 F9 45 1F 40 36 8D 27 BE B4 C3 9E 3D 59 C1 C3 40 66 44 88 40 36 8D 27 BE 96 CD 19 C0 CD 55 06 41 5C D6 FE 3F 92 0A 06 BE 8E 25 6E BF 41 08 ED 41 45 F5 02 40 92 0A 06 BE 8E 25 6E BF E4 94 62 41 88 93 0D 40 92 0A 06 BE B4 C3 1E 3E 86 B0 09 41 B6 A7 14 40 92 0A 06 BE B4 C3 9E BD A3 D7 02 41 CC 31 18 40 92 0A 06 BE B4 C3 1E 3E 6B F5 E5 40 E3 BB 1B 40 92 0A 06 BE B4 C3 9E BD FA 2B F3 40 F9 45 1F 40 92 0A 06 BE B4 C3 9E 3D FE 0F 00 41 5C D6 FE 3F DB 0F C9 BD 8E 25 6E BF 11 7B F4 41 45 F5 02 40 DB 0F C9 BD 8E 25 6E BF 2E 07 3B 41 88 93 0D 40 DB 0F C9 BD B4 C3 1E 3E 0C 93 1E 41 9F 1D 11 40 DB 0F C9 BD 79 D7 94 BF 3E ED D4 40 B6 A7 14 40 DB 0F C9 BD B4 C3 9E BD DC 45 0B 41 CC 31 18 40 DB 0F C9 BD B4 C3 9E 3D 5C 9C 06 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 15 F3 1E 41 F9 45 1F 40 DB 0F C9 BD B4 C3 9E 3D 20 42 E9 40 5C D6 FE 3F 92 0A 86 BD 8E 25 6E BF E5 1E CB 41 9F 1D 11 40 92 0A 86 BD B4 C3 1E 3E 59 05 13 41 B6 A7 14 40 92 0A 86 BD B4 C3 9E 3D 00 D7 15 41 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D E9 1D 20 41 E3 BB 1B 40 92 0A 86 BD B4 C3 9E 3D 08 6E F1 40 5C D6 FE 3F 92 0A 06 BD 8E 25 6E BF E6 08 8A 41 9F 1D 11 40 92 0A 06 BD B4 C3 1E 3E 8C 00 19 41 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 6A 71 1C 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D F8 46 35 41 5C D6 FE 3F 00 00 00 00 B4 C3 1E BE E2 3D 2C 41 9F 1D 11 40 00 00 00 00 B4 C3 1E 3E 84 C0 EA 40 B6 A7 14 40 00 00 00 00 B4 C3 9E 3D D7 7D 0D 41 CC 31 18 40 00 00 00 00 B4 C3 9E BD 9F BC 20 41 CC 31 18 40 92 0A 06 3D B4 C3 9E BD 49 4C D5 40 07 00 00 00 4C 00 00 00 00 00 00 00 78 3B DA BE 9E 52 0D 40 4A 1F 6E BE 0E AC 44 3E D8 16 98 BD 3D A9 EA 3E 6A 99 19 41 C9 CA 57 BE D8 84 0A BD C9 CA 57 BE EC 7D EC 41 8C 82 94 B9 D8 84 0A BD 8C 82 94 B9 46 28 01 3D 00 00 40 40 08 00 00 00 15 00 00 00 00 FF 00 FF FF FF 00 00 FF FF FF 00 FF 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 3F 8D 93 24 87 01 00 00 1B 00 00 00 00 00 00 00 4E 00 00 00 E1 4B 00 00 E3 00 00 00 48 22 00 00 03 00 C5 B3 06 00 00 00 D8 00 00 00 72 09 0A 40 2D D1 D9 BE A5 48 9C C0 81 C6 63 41 72 09 0A 40 DB 0F C9 BE 20 F5 85 C0 16 D5 96 41 72 09 0A 40 88 4E B8 BE 11 7A 83 C0 62 06 96 41 D8 F6 99 40 88 4E B8 BE 8E 25 6E C0 D6 15 4C 41 E3 BB 9B 40 88 4E B8 BE 53 39 64 C0 D0 BF 19 41 D8 F6 99 40 36 8D A7 BE 8E 25 6E C0 BB E6 93 41 E3 BB 9B 40 36 8D A7 BE 53 39 64 C0 0E 04 34 41 E3 BB 1B 40 E4 CB 96 BE B4 C3 9E BD 47 8B 1D 41 D8 F6 99 40 E4 CB 96 BE 8E 25 6E C0 B5 C0 8F 41 E3 BB 1B 40 92 0A 86 BE B4 C3 9E BD 23 8A 3C 41 D8 F6 99 40 92 0A 86 BE 18 4D DA BF 2E AF 49 41 E3 BB 1B 40 7F 92 6A BE B4 C3 9E BD 05 47 54 41 E3 BB 1B 40 DB 0F 49 BE B4 C3 9E BD 8A 5A 40 41 07 00 00 00 4C 00 00 00 00 00 00 00 8E E8 9B BE B8 12 0C 40 C6 F5 8F 3E 9C AB 93 3D 55 07 62 3F 22 B5 05 3E E3 F1 E3 40 C8 AF 30 BE 55 D5 D2 BC C7 AF 30 BE A9 5B F1 41 8B 3B 81 3B 55 D5 D2 BC 8B 3B 81 3B 2E F7 02 3D 00 00 40 40 08 00 00 00 2F 00 00 00 00 00 00 00 FF 00 00 00 00 FF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 02 01 04 03 06 05 08 07 06 00 02 03 42 16 0A 00 68 CC 2B 25 1D 01 00 00 1C 00 00 00 00 00 00 00 4E 00 00 00 8A 4D 00 00 8E 00 00 00 2D 11 00 00 03 00 34 84 06 00 00 00 88 00 00 00 CC 31 18 40 DB 0F C9 BD B4 C3 1E 3E 8C 37 04 41 E3 BB 1B 40 DB 0F C9 BD B4 C3 9E 3D 65 61 0B 41 CC 31 18 40 92 0A 86 BD B4 C3 9E 3D AE 11 44 41 E3 BB 1B 40 92 0A 86 BD B4 C3 9E 3D 69 35 05 41 B6 A7 14 40 92 0A 06 BD B4 C3 9E 3D 20 20 0A 41 CC 31 18 40 92 0A 06 BD B4 C3 9E 3D 23 1F 5D 41 B6 A7 14 40 00 00 00 00 B4 C3 9E BD 15 6D 09 41 CC 31 18 40 00 00 00 00 B4 C3 9E 3D E2 83 2C 41 07 00 00 00 4C 00 00 00 00 00 00 00 3D A5 B0 BE B1 FF 0B 40 20 42 E4 3D BE 86 4E 3D A1 FB FA 3E 70 22 6D 3D 1E 97 D9 40 6C 5F 04 BF 06 FF 00 BD 6C 5F 04 BF 8D 0B E2 41 B9 34 CC BC 06 FF 00 BD B9 34 CC BC 75 E2 14 3D 00 00 40 40 08 00 00 00 15 00 00 00 00 00 00 FF FF FF FF 00 FF 00 FF 00 00

Following Questions.

1. I observed my TLV data, multiple Sync Patterns are coming, read the data is correct or not? It says that the first 8 bytes are for Sync Pattern which is Ok: 02 01 04 03 06 05 08 07 in little-endian order.

2. when multiple objects detected in the sensor, we got multiple Sync Patterns?

3. How to identify the number of people is detected, in this TLV data? How to parse, no need to Pointcloud and other unwanted data, only I need the number of peoples detected and distance.

4. How much distance is the person detected from a sensor, angle, and velocity using this TLV data.

Regards,

Srikanth

over 4 years ago

0 Jackson Thomas over 4 years ago

TI__Genius 14415 points

Hello Srikanth,

Please see the data format section of the 3D people counting User's Guide. There should be one sync pattern per frame, as the pointcloud and track data is delivered over the UART line every frame.

For an example of the TLV parsing, please see the source code for the 3D people counting visualizer in the toolbox folder below. The parsing is done in OOB_parser.py.

"C:\ti\mmwave_industrial_toolbox_4_6_0\labs\people_counting\visualizer"

Note: Toolbox 3.6 is fairly old and the TLV output may be different that the current version. I suggest moving to the latest demo (4.6) for tracking improvement.

Please let me know any other questions you have after looking at these documents.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago

Intellectual 470 points

Hello Thomas,

Thank you for the update.

I tried with Toolbox 3.6 people count demo and I am able to read the TLV data. The below-mentioned data is i got.

Sync Pattern: 708050603040102
Version: 3020006
Platform: A1642
Packet ID: 2918
TLV: 2
TLV Length:152
Range:3.318194627761841, Azimuth:-0.13089969754219055, Doppler:-1.007782220840454, SNR:20.101289749145508
Range:3.318194627761841, Azimuth:-0.09817477315664291, Doppler:-1.007782220840454, SNR:30.269018173217773
Range:3.2628912925720215, Azimuth:-0.06544984877109528, Doppler:-1.0853040218353271, SNR:9.462018966674805
Range:3.318194627761841, Azimuth:-0.06544984877109528, Doppler:-1.3178690671920776, SNR:32.1800422668457
Range:3.2628912925720215, Azimuth:-0.03272492438554764, Doppler:-1.0853040218353271, SNR:9.263406753540039
Range:3.318194627761841, Azimuth:-0.03272492438554764, Doppler:-1.3178690671920776, SNR:21.29637336730957
Range:0.7742453813552856, Azimuth:0.13089969754219055, Doppler:0.07752171158790588, SNR:22.149248123168945
Range:0.7742453813552856, Azimuth:0.1636246144771576, Doppler:0.07752171158790588, SNR:39.898643493652344
Range:0.7742453813552856, Azimuth:0.19634954631328583, Doppler:0.07752171158790588, SNR:24.00440788269043
Range:9.80908925027372e-45, Azimuth:1.064986832886861e-43, Doppler:4.203895392974451e-45, SNR:1.3457658290863037
Range:1.1641473770141602, Azimuth:0.0, Doppler:0.0, SNR:0.0
Range:0.0, Azimuth:2.1250109672546387, Doppler:-0.06849512457847595, SNR:-0.03539695590734482
Range:-0.06849513202905655, Azimuth:8.02463436126709, Doppler:-0.007245468907058239, SNR:-0.03539695218205452
Range:-0.007245461456477642, Azimuth:0.32642862200737, Doppler:3.0, SNR:3.8792470489147634e-37
Range:1.023297908515793e-34, Azimuth:3.820359330665486e-37, Doppler:9.26339560229635e-40, SNR:47715397632.0
Range:3.040817667584853e-43, Azimuth:4.090390217364141e-42, Doppler:0.0, SNR:1.0930128021733573e-43
Range:2.7965713452530374e-41, Azimuth:1.0930128021733573e-43, Doppler:4.4168927595518234e-42, SNR:9.277417293967524e+17
Range:8.407790785948902e-45, Azimuth:1.0089348943138683e-43, Doppler:0.7742453813552856, SNR:0.09817477315664291
Range:0.07752171158790588, Azimuth:25.414749145507812, Doppler:0.7742453813552856, SNR:0.13089969754219055
Range:0.07752171158790588, Azimuth:40.444969177246094, Doppler:0.88485187292099, SNR:0.13089969754219055
Range:0.07752171158790588, Azimuth:9.72404670715332, Doppler:0.7742453813552856, SNR:0.1636246144771576
Range:0.07752171158790588, Azimuth:26.831045150756836, Doppler:9.80908925027372e-45, SNR:1.064986832886861e-43
Range:4.203895392974451e-45, Azimuth:1.3457658290863037, Doppler:1.1641473770141602, SNR:0.0
Range:0.0, Azimuth:0.0, Doppler:0.0, SNR:2.1250109672546387
Range:-0.06849512457847595, Azimuth:-0.03539695590734482, Doppler:-0.06849513202905655, SNR:8.02463436126709
Range:-0.007245468907058239, Azimuth:-0.03539695218205452, Doppler:-0.007245461456477642, SNR:0.32642862200737
Range:3.0, Azimuth:1.1210387714598537e-44, Doppler:2.382207389352189e-44, SNR:nan
Range:nan, Azimuth:1.5165252864387844e-36, Doppler:4.00302983982266e-34, SNR:9.405684569402663e-38
Range:7.234652715848726e-33, Azimuth:-4286720.0, Doppler:9.912364947094459e-41, SNR:1.0474986280520873e-39
Range:0.0, Azimuth:2.7981127735637947e-41, Doppler:7.185768841955945e-39, SNR:1.3273099054084667e-41
Range:8.771007347901895e-40, Azimuth:0.007813215255737305, Doppler:2.3723983001019153e-42, SNR:4.878760733393283e-41
Range:3801918472192.0, Azimuth:-589236.0, Doppler:1.280939665354312e+28, SNR:3.4548165025726464e+16

Is this correct data or wrong?

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hi Srikanth,

I am not sure if the data is correct or not, since I don't know anything about the scene. But, it definitely looks like there were some errors in the parsing, at least for the final point, since the numbers are all too large. Otherwise it seems plausible, there are sometimes points detected right around the origin of the sensor.

Do those values make sense for the scene you were measuring?

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Hi Thomas,

Ok. where can I find these values? do we have any documents for validating sensor data after parsing The TLV data? if yes, can you please provide the document for reference.

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hi Srikanth,

The parsed values should match objects in front of the sensor. The default for the people counting CFG file is to only report dynamic points, so these should represent moving objects.

The latest people counting demo is a 3D demo, so the pointcloud output should have range, azimuth, and elevation coordinates. You are missing the elevation. Please see the UART data structure in the 3D people counting user's guide.

https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.5.1&node=AAMBDqRctFUaJ4xh6n3SbQ__VLyFKFf__LATEST&r=VLyFKFf__3.6.2&r=VLyFKFf__4.0.0&r=VLyFKFf__4.0.1&r=VLyFKFf__4.2.1&r=VLyFKFf__4.5.0

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Thanks for the update Thomas,

As you suggested, I tried the latest people counting 3D Demo. but I am unable to executing cfg commands, I used previous working code only I have changed cfg commands as per 3D Demo "ISK_6m_default.cfg". why?

CFG Path:

C:\ti\mmwave_industrial_toolbox_4_6_0\labs\people_counting\68xx_3D_people_counting\chirp_configs\ISK_6m_default.cfg

Prebuilt_Binary Path:

C:\ti\mmwave_industrial_toolbox_4_6_0\labs\people_counting\68xx_3D_people_counting\prebuilt_binaries\3D_people_count_68xx_demo.bin

Above mentioned CFG file is used and Prebuilt Binary file is flashed into IWR6843 sensor.

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Can you please give a few more details about the cfg parameters not working? Are you using the People Counting Visualizer to load the commands? Is there a response on the UART line saying the command is not recognized? Or is there just an empty character returned in the terminal like ' '?

That binary and cfg file are compatible and should load in the 3D people counting visualizer located below:

"C:\ti\mmwave_industrial_toolbox_4_6_0\labs\people_counting\visualizer"

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

I am not using the people counting visualizer to load the commands, I am using my own application developed myself. nothing is printing in the command prompt.

Can you help with how to improve the number of detected objects in front of the sensor? I am detecting inaccurate results, sometimes it is detecting 5, sometimes 3 without human moving around the sensor. I am using Industrial Toolbox 3.6.2 and the default cfg file available in the 3.6.2 folder. The below code is to read the TLV data from the sensor and parse the data. can you please check parser is correct or wrong?

import numpy as np
import socket
import struct
import sys
import math
import time

#Point Cloud TLV
def parsePoint(data, tlvLength):
objStruct = '4f'
objSize = struct.calcsize(objStruct)
print("TLV Length:{}".format(tlvLength))
numDetectedobj = int (tlvLength/16)
print("Detected Objects:{}".format(numDetectedobj))
for i in range(numDetectedobj):
try:
range1, azimuth, doppler, snr = struct.unpack(objStruct,data[:objSize])
print("Range:{}, Azimuth:{}, Doppler:{}, SNR:{}".format(range1, azimuth, doppler, snr))
data = data[16:]
except:
numDectedObj = i
print('failed to get point cloud')
break

#Target Object TLV
def parseTargetList(data, tlvLength):
targetStruct = 'I6f9ff'
targetSize = struct.calcsize(targetStruct)
numDetectedTarget = int (tlvLength/68)
print("Detected Targets:{}".format(numDetectedTarget))
for i in range(numDetectedTarget):
try:
tid, posX, posY, velX, velY, accX, accY, EC1, EC2,EC3,EC4,EC5,EC6,EC7,EC8,EC9, g = struct.unpack(targetStruct, data[:targetSize])
#print("TID:{}, posX:{}, posY:{}".format(tid, posX, posY))
data = data[68:]
except:
print('Failed to get Target Object')
break

#Target Index TLV
def parseTargeIndex(data, tlvLength):
targetStruct = 'B'
targetSize = struct.calcsize(targetStruct)
numIndexes = int(len(data)/targetSize)
for i in range(numIndexes):
try:
targetID = struct.unpack(targetStruct, data[:targetSize])
print("TargetID:{}".format(targetID))
data = data[targetSize:]
except:
print('TLV Index Parse Fail')
break

#TLV Header
def tlvHeaderDecode(data):
tlvType, tlvLength = struct.unpack('2I', data)
return tlvType, tlvLength

#TLV Header Parser
def tlvHeader(data):
while data:
headerLength = 52
try:
magic, version, platform, timestamp, packetLen, frameNum, subFrameNum, chirpMargin, frameMargin, uartSentTime, trackProcessTime, numTLVs, checksum = struct.unpack('Q10L2H', data[:headerLength])
except:
print ("Improper TLV structure found: ", (data,))
break

print("Sync Pattern:\t%x "%(magic))
print("Version :\t%x "%(version))
print("Platform :\t%X "%(platform))
print("Packet ID :\t%d "%(frameNum))
print("TLV :\t%d "%(numTLVs))

data = data[headerLength:]
for i in range (numTLVs):
if(len(data) != 0):
tlvType, tlvLength = tlvHeaderDecode(data[:8])
data = data[8:]
if (tlvType == 5):
print("\tFOUND MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP !!!!")
elif (tlvType == 6):
parsePoint(data[:tlvLength], tlvLength-8)
elif (tlvType == 7):
parseTargetList(data[:tlvLength], tlvLength-8)
elif (tlvType == 8):
parseTargeIndex(data[:tlvLength], tlvLength-8)
else:
print("- Unidentified tlv type :", hex(tlvType))
data = data[tlvLength:]

yield packetLen, frameNum

#Main Loop
if __name__ == "__main__":
try:
# receive the data in small chunks and print it
while True:
tlv_data = open("TLV_Data.bin", "rb")
data = tlv_data.read(65536)
tlv_data.close()
magic_word = b'\x02\x01\x04\x03\x06\x05\x08\x07'
offset = data.find(magic_word)
rawData = data[offset:]
for packetLen, frameNum in tlvHeader(rawData):
continue

finally:
# Clean up the connection
print ('client disconnected')
#connection.close()

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hello Srikanth,

Is there a specific reason you are using an older demo for the people counting? I highly suggest you move to the demo included in the latest toolbox. There have been improvements made to the people tracking for improved reliability and functionality. Any advice on how to improve the detection will be most relevant to the current demo.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Hi Team,

There is no specific reason to use an older version. Thank you for your suggestion, in the future defiantly I go with the new version only.

I got the TLV data from IWR6843 using Industrial Toolbox - 3.6.2 and I am able to parse the data. below are the questions.

1. After parsing the Target object TLV, I got Target Position X, Target Position Y, Target velocity X, Target velocity Y, Target acceleration X, and Target acceleration Y.

Example: {"People_Count": 2, "Person No": 2, "position_X": 0.3040507137775421, "position_Y": 1.4823848009109497, "velocity_X": -0.14781323075294495, "velocity_Y": -0.12402737885713577, "Acc_X": -2.808039665222168, "Acc_Y": 0.7757405042648315}

2. Based on the above values how to calculate distance, velocity, and angle. is there any document?

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hello Srikanth,

Those are the X and Y coordinates (position) and the X and Y components of the velocity and acceleration vectors. This is described in the People Counting User's Guide in the updated lab.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Hi Jackson,

I have checked the People Counting User's Guide but I didn't understand how to calculate distance and angle. Can you elaborate more on this?

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Are you trying to get the spherical coordinates (range and azimuth)? These are in cartesian coordinates, so you will need to convert them. Please look up cartesian to spherical conversions.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Sorry, maybe your explanation is correct but I could not understand what your saying. state forward question, I have distance, velocity X, velocity Y, acceleration X, and acceleration Y values. by using these values how to calculate the angle and velocity? I didn't see anywhere in the document to calculate angle and velocity using these values. Please do the needful.

Regards,

Srikanth

+1 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hello,

Magnitude = sqrt(X^2 + Y^2)

Angle = arctan(X/Y)

This should work for position, velocity, and acc vectors. Please see this reference for more info on converting between coordinate types.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Thank you for the update, Jackson.

As per the above explanation, we are on the same page. I have calculated distance and angle. only velocity calculation is required.

I have velocity X, velocity Y, acceleration X, and acceleration Y values. which one do I want to consider to calculate Velocity and how?

Please help me with this.

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hi Srikanth,

The same formulas work for velocity and acceleration.

Regards,

Jackson

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

The same formula means. your saying Magnitude = sqrt(X^2 + Y^2) this one.

Regards,

Srikanth

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

That is correct. Please see the link I provided above for more information.

0 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

For distance I am using This formula : Distance = math.sqrt(pow((0-posX), 2) + pow((0-posY), 2)). Is this formula is correct right?

If I Use the same formula, you mentioned above, I am getting the same values for distance and velocity because the formula for both is the same in this case.

What is the difference between distance and velocity In this case?

0 Jackson Thomas over 4 years ago in reply to Srikanth Katakam1

TI__Genius 14415 points

Hi Srikanth,

For velocity and acceleration, use the x and y components of the velocity and acceleration, not position. This will give you the values for vel and acc.

Regards,

Jackson

+1 Srikanth Katakam1 over 4 years ago in reply to Jackson Thomas

Intellectual 470 points

Thank you Jackson for your support.

Regards,

Srikanth

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IWR6843: TLV Parser