IWR6843ISK: Detected points (x,y,z,Doppler) data format. Now in float format; need help converting.

Hello Khalid,

Single precision float should be correct. I've included below the parsing function used in the mmWave Demo Visualizer for your reference.

var getXYZ_type2 = function (vec, vecIdx, Params, numDetecObj, sizeObj) 
{
    var x_coord = [];
    var y_coord = [];
    var z_coord = [];
    var doppler = [];
    var i, startIdx;
    var subFrameNum = Params.currentSubFrameNumber;

    /* list of detected objs
    for platform = 68xx
    typedef struct DPIF_PointCloudCartesian_t
    {
        x - coordinate in meters
        float  x;
        y - coordinate in meters
        float  y;
        z - coordinate in meters
        float  z;        
        Doppler in m/s 
        float    doppler;
    }DPIF_PointCloudCartesian;
    */
    for (i = 0; i < numDetecObj; i++)  
    {
        /*start index in bytevec for this detected obj*/
        startIdx = vecIdx + i*sizeObj;

        x_coord[i] = getFloat(vec[startIdx + 0],  vec[startIdx + 1],  vec[startIdx + 2],  vec[startIdx + 3]);
        y_coord[i] = getFloat(vec[startIdx + 4],  vec[startIdx + 5],  vec[startIdx + 6],  vec[startIdx + 7]);
        z_coord[i] = getFloat(vec[startIdx + 8],  vec[startIdx + 9],  vec[startIdx + 10], vec[startIdx + 11]);
        doppler[i] = getFloat(vec[startIdx + 12], vec[startIdx + 13], vec[startIdx + 14], vec[startIdx + 15]);
    }

    var range;
    range = math.sqrt(math.add(math.dotMultiply(z_coord, z_coord), math.add(math.dotMultiply(x_coord, x_coord), math.dotMultiply(y_coord, y_coord))));

    var rangeIdx = math.map(range, function (value) {
        return Math.round(value / Params.dataPath[subFrameNum].rangeIdxToMeters);
    });

    var dopplerIdx = math.map(doppler, function (value) {
        return Math.round(value / Params.dataPath[subFrameNum].dopplerResolutionMps);
    });

    return { rangeIdx: rangeIdx, dopplerIdx: dopplerIdx, x_coord: x_coord, y_coord: y_coord, z_coord: z_coord, doppler: doppler}

}

To be able to view the source code for the demo visualizer:  

1) Click on Import to Gui Composer button

2) After project is imported click on folder icon to view project files

3) Source files can be viewed by navigation window on the left

Amanda

Hi Amanda,

I was using just the default configuration, and the issue showed whether I used 6 or 7 antennas. Detected points and Range profile are monitored.

However when I switch on Clutter Removal the issue resolves itself.

Saying that, this afternoon I'll try some proper testing, between different boards and with different configurations, and I'll let you know if the issue shows.

Khalid