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.
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6843AOP_3d.cfg
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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
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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.