你好
我正在使用AWR1642 + DCA1000EVM
打算要提取出point cloud data
我參考了industrial toolbox 的demo
在ROS顯示出了point cloud
但似乎只能save config?
感謝您
你好，
提取点云请参考以下信息。
The data saved in this file is the exact same data and format that is transmitted out of the mmWave device over the DATA_port. Users should see the mmWave demo doxygen in the mmWave SDK package to understand the format of the data and how to parse it.
To process the recorded data: See the Visualizer User's Guide, section 4.4, to understand what the data contains. Information on the actual data is available in the doxygen - <mmWave_SDK_Install_DIR>\packages\ti\demo\xwr16xx\mmw\docs\doxygen\html\index.html.
User's Guide: www.ti.com/.../swru529a.pdf
There is a demo in beta that saves the recorded data to a human readable CSV file - you can read the code and understand the data conversion process:
mmWave visualizer with the LOG function: dev.ti.com/.../
• Data format description of UART data for mmWave Demo.
• SDK01.00.00.05: https://e2e.ti.com/cfs-file/__key/communityserver-discussions-components-files/1023/mmw-Demo-Data-Structure_5F00_8_5F00_16...
• SDK01.01.00.02: Section "Output information sent to host" file:///C:/ti/mmwave_sdk_01_01_00_02/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/index.html
• SDK01.02.00.05: Section "Output information sent to host" file:///C:/ti/mmwave_sdk_01_02_00_05/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/index.html
• SDK02.00.00.04: Section "Output information sent to host" file:///C:/ti/mmwave_sdk_02_00_00_04/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/index.html
你好，
我閱讀了dev.ti.com/.../mmWave_Demo_Visualizer csv (中間，輸出csv的版本)
其中的兩份代碼:
mmWave_Demo_Visualizer_Record/app/mmWave.js
mmWave_Demo_Visualizer_Record/components/ti-widget-streamsaver/StreamSaver.js
由於我對javascript code並沒有研究，只能大致猜測以下應該是在save csv file的部分(不過我並沒找到save csv 之類的key words)
(圖一)
我只看到代碼中在進行data format decode，並沒有發現有在做point clouds->grouped object points
根據下圖，我認為grouping/clustering 應該無法經由demo visualizer dump出來
(圖二)
應該只能經由DCA1000EVM or ROS software，又應該要如何取出?
感謝
Wesley He 说：你好，
ROSdemo与网页版visualizer得到的数据是一致的，都没有做高级的grouping。CSV得到的数据与LINUX界面显示的一致。
谢谢。
你好，
不太理解何謂数据是一致的
ROS 輸出為point cloud(偵測到很多個點)，visualizer 輸出為objects(應該是point clouds grouping後得到的?)
