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Original question:

IWR6843AOPEVM: ros point cloud visualizer

IWR6843AOPEVM: ROS Point Cloud Visualizer output response quite slow, when changing the cfg file.

Oscar Sandoval
Prodigy 10 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: MMWAVEICBOOST, IWR6843ISK

I'm using an IWR6843AOPEVM module (without the MMWAVEICBOOST) with the Out of the Box Demo binary contained in the Toolbox-4.7.0. I've followed the tutorial for the ROS Point Cloud Visualizer when I use the 6843AOP_3d.cfg file the Point Cloud seems very responsive to changes in the scene. I've prepared a different configuration file using the Demo Visualizer (Version 3.5) but as soon I apply the configuration using this command `rosrun ti_mmwave_rospkg mmWaveQuickConfig /path/to/profile.cfg` the Point Cloud output is very slow and only detect few changes in the scene. 

- What would be the reason for this problem and its solution?

Here are both configuration files.

------------------------
6843AOP_3d.cfg
------------------------
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 43 7 40 0 0 100 1 224 7000 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 111 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.40
cfarFovCfg -1 1 -5.02 5.02
sensorStart

---------------------------------
custom_generated_with_demo_vizualizer.cfg
---------------------------------
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 16 7 28.55 0 0 100 1 256 12499 0 0 158
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 14.99
cfarFovCfg -1 1 -9.35 9.35
calibData 0 0 0
sensorStart

Note: I'm experiencing the same results with the IWR6843ISK module, also without using the MMWAVEICBOOST.

  • 0
    TI__Mastermind 20160 points

    Hello,

    Just so I understand clearly, you are only noticing slow point cloud when using ROS. Do you have similar issues when using the out of box demo visualizer?

  • 0 in reply to Sabeeh Khan1
    Prodigy 10 points

    Hi Sabeeh, that's correct. With the custom_generated_with_demo_visualizer.cfg file it works fine on the demo visualizer, the sensor seems to be very responsive. The problem is when occurs when the same custom config is used with ROS.

  • 0 in reply to Oscar Sandoval
    TI__Mastermind 20160 points

    Thank you for clarifying. I will test this custom .cfg on ROS Melodic with the AOP and will let you know if I notice similar performance issues.

  • +1 in reply to Sabeeh Khan1
    TI__Mastermind 20160 points

    Hello Oscar,

    I did discover the same "slowness" that you described. Here are the steps that I did to find the issue, so please confirm that you did the same:

    1. In a terminal window, I launched the AOP 3d launch file: "roslaunch ti_mmwave_rospkg 6843AOP_multi_3d_0.cfg"
    2. RVIZ appears and the point cloud are shown quickly.
    3. In a new terminal window, I launched "rosrun ti_mmwave_rospkg mmWaveQuickConfig /custom.cfg"and executed. RVIZ now displays point cloud slower. Custom.cfg is the same as what you provided.

    I do not believe there is a problem here. I noticed that in your custom.cfg, you selected a frame of 10Hz (100ms), three times slower than the original (30Hz). The frame rate is set in ms as the fifth argument in the frameCfg command.

    Furthermore, if you are only interested in point cloud data, then you could disable range and profile and CPU statistics, leaving point cloud only enabled. This will send out less data from the sensor: guiMonitor -1 1 0 0 0 0 0

  • 0 in reply to Sabeeh Khan1
    Prodigy 10 points

    But why when I use the LOAD CONFG FROM PC AND SEND button in the Demo Visualizer, using the custom.cfg, the point cloud refresh is faster?

    By changing the following lines, the point cloud is so much responsive.
    frameCfg 0 2 16 0 33.333 1 0
    guiMonitor -1 1 0 0 0 0 0


    If I change the frame rate, does this affect the size and distance of detected objects?

  • 0 in reply to Oscar Sandoval
    TI__Mastermind 20160 points

    When using demo visualizer, the graph is cleared every frame, so only the most recent points are updated. With RVIZ, the default behavior is to accumulate points over time, known as "Decay Time" and is configurable under "PointCloud2" in RVIZ. This may give the appearance that demo visualizer is updating faster.

    Changing the frame rate does not change what will or won't be detected, but it will provide more points per second. The sensor will also be consuming more power as it is chirping more often.