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mmWave_Tutorial2-快速上手mmWave 3D people counting demo

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前言

在上一篇博客中mmWave_Tutorial1我们讲述了关于Ti官方demo数据读取以及数据使用并给出了一段实例程序, 细心的读者在使用完历程后会发现ti官方demo所输出的点云数据非常的稀疏, 这一部分是由于mmwave设备天线的稀疏, 一部分是由于在ti官方demo中, 角度估计使用的是传统波束形成的方法其在天线维进行fft来进行角度估计, 而这样稀疏的点云数据不利于我们进行后续更高阶的应用, 而在TI IndustrialToolbox 的 3D people counting demo 中使用了 Capon自适应波束形成算法, 能够生成相对密集的点云, 为我们后续进行聚类, 目标跟踪行为识别等算法的实现提供了基础. 程序的源码, 预编译二进制文件以及相应的说明文档可以在如下的目录中找到.

\ti\mmwave_industrial_toolbox_4_5_1\labs\people_counting\68xx_3D_people_counting

需要注意的是在这篇博客当中所使用到的硬件设备为IWR6843ISK,IWR8843ISK-AOP或者IWR6843ISK-ODS. 同样IWR1843Boost也可以使用

在这篇博客中我们利用之前的方法来对TI IndustrialToolbox 中的 3D people counting demo 进行上位机程序的编写, 来实现数据的解析与读取.

3D people counting demo概述

与ti out of box demo相比 3D people counting demo实现了如下两个新的功能:

  1. 雷达前端信号处理链( 包含Capon自适应波数形成算法)
  2. gtrack多目标跟踪算法

3D people counting demo的框图如下图所示

需要注意的是gtrack多目标跟踪算法是实现在ARM上的

同时由于xWRxx43的雷达SoC采用了3发4收的天线通道, 与iwr1642相比, 收获了在俯仰角(elevation)上的分辨能力而不单单仅限于方位角(azimuth)上的分辨能力, 而不同的天线布局会影响到后级的信号处理, 在本篇博客中我不会去详细的介绍信号处理我将会将重点放在如何读取从雷达返回的已经处理好的点云数据.

数据传输以及格式

CLI port 数据传输及格式

在之前讲述ti out of box demo 我们提到了 CLI port 是用来发送对demo程序的配置信息, 而在 3D people counting demo中, 不同于 ti out of box demo的任务, 3D people counting demo需要进行天线阵列排布, 房间边界, 状态参数等等的配置, 所以它的 CLI port数据传输的格式与相应的意义与ti out of box demo 就有所不同

具体的数据传输格式以及相应的含义可以在如下文档中的Modifying Configuration File的章节中找到

/ti/mmwave_industrial_toolbox_4_5_1/labs/people_counting/68xx_3D_people_counting/docs/3d_pplcount_user_guide.pdf

Data port 数据传输及格式

与在ti out of box demo相似, 3D people counting 在数据传输时使用了 类似的 TLV 格式, 如下图所示

与ti out of box demo 不同的是,TLV的定义与数据传输的格式, 具体的数据传输格式可以在如下文档中的 Data Formats 的章节中找到

/ti/mmwave_industrial_toolbox_4_5_1/labs/people_counting/68xx_3D_people_counting/docs/3d_pplcount_user_guide.pdf

3D people counting user Guide中我们可以看到 3D people counting 的 TLV 有如下三种,分别是

  1. Point Cloud TLV
  2. Target Object TLV
  3. Target Index TLV

Point Cloud TLV用于传输雷达信号处理得到的点云数据, Target Object TLV用于输出gtrack算法输出的 target 的状态 比如位置, 速度, 加速度等, Target Index TLV 用于输出每个target 的独立的编号.
它的数据定义也是通过结构体来实现的, 我们可以参考ti out of box demo 从有关的定义来进行驱动程序的编写

相关代码(Matlab)

注意: 为了方便读者的使用, 我已经将3D people counting demo 中进行了修改, 删除了其中目标跟踪的部分并编译成了二进制文件, 需要请联系我

这部分的代码与 ti out of box demo 类似, 但是为了方便读者们复制粘贴使用 使用, 在这里依然给出相应的各个功能部分的代码, Data port 数据传输及格式的不同带来的变化主要反映在函数 function [dataOk, frameNumber, detObj] = readAndParseData(DATA_sphandle) 中

打开传输串口

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% Description: 
% Author: Yu Xuyao
% Email: yxy19991102@163.com
% Date: 2020-12-25 00:26:00
% LastEditTime: 2020-12-25 00:26:00
% LastEditors: Yu Xuyao

function [CLI_sphandle,DATA_sphandle] = setupUART(CLIcomPortString,DATAcomPortString)
    
    if strcmp(CLIcomPortString(1:3),'COM') || strcmp(DATAcomPortString(1:3),'COM')

        CLI_sphandle = serial(CLIcomPortString,'BaudRate',115200);
        set(CLI_sphandle,'Parity','none')
        set(CLI_sphandle,'Terminator','LF')
        fopen(CLI_sphandle);

        DATA_sphandle = serial(DATAcomPortString,'BaudRate',921600);
        set(DATA_sphandle,'Terminator', '');
        set(DATA_sphandle,'InputBufferSize', 65536);
        set(DATA_sphandle,'Timeout',10);
        set(DATA_sphandle,'ErrorFcn',@dispError);
        set(DATA_sphandle,'BytesAvailableFcnMode','byte');
        set(DATA_sphandle,'BytesAvailableFcnCount', 2^16+1);%BYTES_AVAILABLE_FCN_CNT);
        set(DATA_sphandle,'BytesAvailableFcn',@readUartCallbackFcn);
        fopen(DATA_sphandle);
    else
        fprintf('COM port string format wrong\n');
    end
end

CLI port配置数据

这个 CLI port 的配置数据是用来配置IWR8843ISK-AOP, 其他的型号的mmWave雷达开发板的有关配置可以在如下的文件中找到

\ti\mmwave_industrial_toolbox_4_5_1\labs\people_counting\68xx_3D_people_counting\chirp_configs

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sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 60.75 7 7 41.10 0 0 54.71 1 96 2950.00 0 0 36 
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  96  0 50 1 0
dynamicRACfarCfg -1 4 4 2 4 8 16 4 4 4.00 4.50 0.50 1 1
staticRACfarCfg -1 4 4 2 4 8 16 4 6 12.00 13.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 1.5 0.0300 1 0 1 0.50 0.85 8.00
staticRangeAngleCfg -1 1 8 4
antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0
antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2
antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1
fovCfg -1 70.0 20.0
compRangeBiasAndRxChanPhase 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 
staticBoundaryBox -2 2 2 8.5 -2 2
boundaryBox -2.5 2.5 0.5 9 -2.5 2.5
sensorPosition 2 0 0
gatingParam 3 2 2 2 0
stateParam 3 3 10 40 5 600
allocationParam 00 800 0.1 15 0.1 20
trackingCfg 1 2 1000 20 67 105 50
sensorStart

读取CLI port配置数据

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% Description: 
% Author: Yu Xuyao
% Email: yxy19991102@163.com
% Date: 2020-12-25 00:26:00
% LastEditTime: 2020-12-25 00:26:00
% LastEditors: Yu Xuyao

function [configcmd] = readCfgFile(configFile)

configcmd = cell(1,100);
fid = fopen(configFile, 'r');
if fid == -1
    fprintf('File %s not found!\n', configFile);
    return;
else
    fprintf('Opening configuration file %s ...\n', configFile);
end
tline = fgetl(fid);
k=1;
while ischar(tline)
    if ~isempty(tline)
        configcmd{k} = tline;
        k = k + 1;
    end 
    tline = fgetl(fid);
end
configcmd = configcmd(1:k-1);
fclose(fid);
end

发送CLI port的配置数据

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% Description: 
% Author: Yu Xuyao
% Email: yxy19991102@163.com
% Date: 2020-12-25 00:26:00
% LastEditTime: 2020-12-25 00:26:00
% LastEditors: Yu Xuyao

function sendCfg(UART_sphandle,configcmd)
mmwDemoCliPrompt = char('mmwDemo:/>');

%Send CLI configuration to IWR
fprintf('Sending configuration to IWR radar\n');
for k=1:length(configcmd)
    command = configcmd{k};
    fprintf(UART_sphandle, command);
    fprintf('%s\n', command);
    echo = fgetl(UART_sphandle); % Get an echo of a command
    done = fgetl(UART_sphandle); % Get "Done"
    fprintf('%s\n', done);
    prompt = fread(UART_sphandle, size(mmwDemoCliPrompt,2)); % Get the prompt back
    fprintf('%s\n', prompt);
end
end

读取Data port数据

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% Description: 
% Author: Yu Xuyao
% Email: yxy19991102@163.com
% Date: 2020-12-25 00:26:00
% LastEditTime: 2020-12-25 00:26:00
% LastEditors: Yu Xuyao

function [dataOk, frameNumber, pointStruct,targetStruct2D] = readAndParseData(DATA_sphandle)
    pointStruct_SIZE_BYTES = 8;
    targetStruct2D_SIZE_BYTES = 40;
    BYTE_VEC_ACC_MAX_SIZE = 2^16;
    POINT_CLOUD_2D = 6;
    TARGET_LIST_3D   = 7;
     TARGET_INDEX  = 8;
    maxBufferSize = BYTE_VEC_ACC_MAX_SIZE;
    
    pointStruct =[];
    targetStruct2D = [];
    frameNumber = 0;
      
    persistent byteBuffer
    if isempty(byteBuffer)
        byteBuffer = zeros(maxBufferSize,1);
    end
    
    persistent byteBufferLength
    if isempty(byteBufferLength)
        byteBufferLength = 0;
    end
    
    persistent magiNotOkCounter
    if isempty(magiNotOkCounter)
        magiNotOkCounter = 0;
    end
    
    magicOk = 0;
    dataOk = 0;
    
    bytesToRead = get(DATA_sphandle,'BytesAvailable');
    if (bytesToRead ~= 0)
        % Read the Data Serial Port
        [bytevec, byteCount] = fread(DATA_sphandle, bytesToRead, 'uint8');
        
         % Check if the buffer is not full, and then add the data to the buffer:
        if(byteBufferLength + byteCount < maxBufferSize)
            byteBuffer(byteBufferLength+1:byteBufferLength + byteCount) = bytevec(1:byteCount);
            byteBufferLength = byteBufferLength + byteCount;
        end
        
    end
 
    % Check that the buffer is not empty:
    if byteBufferLength > 16
        byteBufferStr = char(byteBuffer);
        
        % Search for the magic number inside the buffer and check that at least one magic number has been found:
        startIdx = strfind(byteBufferStr', char([2 1 4 3 6 5 8 7]));
        if ~isempty(startIdx)
            
            % Check the position of the first magic number and put it at
            % the beginning of the buffer
            if length(startIdx) >= 2
                if startIdx(end-1) > 1
                    byteBuffer(1:byteBufferLength-(startIdx(1)-1)) = byteBuffer(startIdx(1):byteBufferLength);
                    byteBufferLength = byteBufferLength - (startIdx(1)-1);
                end
            else
                if startIdx(1) > 1
                    byteBuffer(1:byteBufferLength-(startIdx(1)-1)) = byteBuffer(startIdx(1):byteBufferLength);
                    byteBufferLength = byteBufferLength - (startIdx(1)-1);
                end
            end
            if byteBufferLength < 0
                byteBufferLength = 0;
            end
            
            totalPacketLen = sum(byteBuffer(8+4+[1:4]) .* [1 256 65536 16777216]');
            if ((byteBufferLength >= totalPacketLen) && (byteBufferLength ~= 0)) 
                magicOk = 1;
            else
                magicOk = 0;
            end
        end
    end
    
    if (magicOk == 1)
        %%%%% HEADER
        word = [1 256 65536 16777216]';
        idx = 0;
        magicNumber = byteBuffer(idx + 1:8);
        idx = idx + 8;
        Header.version = dec2hex(sum(byteBuffer(idx+[1:4]) .* word));
        idx = idx + 4;
        Header.totalPacketLen = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.platform = dec2hex(sum(byteBuffer(idx+[1:4]) .* word));
        idx = idx + 4;
        Header.frameNumber = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        frameNumber = Header.frameNumber;
        idx = idx + 4;
        Header.subFrameNumber = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.chirpProcessingMargin = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.frameProcessingMargin = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.trackProcessTime = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.uartSentTime = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
        idx = idx + 4;
        Header.numTLVs = typecast(uint8(byteBuffer(idx+(1:2))),'uint16');
        idx = idx + 2;
        Header.checksum = typecast(uint8(byteBuffer(idx+(1:2))),'uint16');
        idx = idx + 2;
        
        
        %%%%% TLV
        
        % Analyze each of TLV messages:
        for tlvIdx = 1:Header.numTLVs
            % First, analyze the TLV header (TLV type and length):
            tlv.type = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
            idx = idx + 4;
            tlv.length = typecast(uint8(byteBuffer(idx+(1:4))),'uint32');
            idx = idx + 4;
            
            % Check that the TLV message is of the right type (Detected objects):
            switch tlv.type
                case POINT_CLOUD_2D
                    numberOfPoints = (tlv.length - 28)/pointStruct_SIZE_BYTES;
                    
                    pointUnit.elevationUnit = typecast(uint8(byteBuffer(idx+(1:4))),'single');
                    idx = idx + 4;
                    pointUnit.azimuthUnit = typecast(uint8(byteBuffer(idx+(1:4))),'single');
                    idx = idx + 4;
                    pointUnit.dopplerUnit = typecast(uint8(byteBuffer(idx+(1:4))),'single');
                    idx = idx + 4;
                    pointUnit.rangeUnit = typecast(uint8(byteBuffer(idx+(1:4))),'single');
                    idx = idx + 4;
                    pointUnit.snrUnit = typecast(uint8(byteBuffer(idx+(1:4))),'single');
                    idx = idx + 4;
                    pointStruct.elevation =[];
                    pointStruct.azimuth =[];
                    pointStruct.doppler =[];
                    pointStruct.range =[];
                    pointStruct.snr =[];
                    
                    if numberOfPoints > 0  
                        for i = 1:numberOfPoints
                            pointStruct.elevation = [pointStruct.elevation  single(typecast(uint8(byteBuffer(idx+1)),'int8'))*pointUnit.elevationUnit];
                            idx = idx + 1;
                            pointStruct.azimuth = [pointStruct.azimuth  single(typecast(uint8(byteBuffer(idx+1)),'int8'))*pointUnit.azimuthUnit];
                            idx = idx + 1;
                            pointStruct.doppler = [pointStruct.doppler  single(typecast(uint8(byteBuffer(idx+(1:2))),'int16'))*pointUnit.dopplerUnit];
                            idx = idx + 2;
                            pointStruct.range = [pointStruct.range  single(typecast(uint8(byteBuffer(idx+(1:2))),'uint16'))*pointUnit.rangeUnit];
                            idx = idx + 2;
                            pointStruct.snr = [pointStruct.snr  single(typecast(uint8(byteBuffer(idx+(1:2))),'uint16'))*pointUnit.snrUnit];
                            idx = idx + 2;
                        end
                        dataOk = 1;
                    end
                case TARGET_LIST_3D
                    numberOfTargets = (tlv.length - 28)/targetStruct2D_SIZE_BYTES;
                    if tlv.length > 0   
                        targetStruct2D.tid = [];
                        targetStruct2D.posX = [];
                        targetStruct2D.posY = [];
                        targetStruct2D.velX = [];
                        targetStruct2D.velY = [];
                        targetStruct2D.accX = [];
                        targetStruct2D.accY = [];
                        targetStruct2D.posZ = [];
                        targetStruct2D.velZ = [];
                        targetStruct2D.accZ = [];
                        
                        if numberOfPoints > 0  
                            for i = 1:numberOfPoints
                                targetStruct2D.tid = [targetStruct2D.tid typecast(uint8(byteBuffer(idx+(1:4))),'uint32')];
                                idx = idx + 4;
                                targetStruct2D.posX = [targetStruct2D.posX typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.posY = [targetStruct2D.posY typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.velX = [targetStruct2D.velX typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.velY = [targetStruct2D.velY typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.accX = [targetStruct2D.accX typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.accY = [targetStruct2D.accY typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.posZ = [targetStruct2D.posZ typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.velZ = [targetStruct2D.velZ typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                                targetStruct2D.accZ = [targetStruct2D.accZ typecast(uint8(byteBuffer(idx+(1:4))),'single')];
                                idx = idx + 4;
                            end
                        end
                        
                        dataOk = 1;
                    end
                case TARGET_INDEX
%                     rp = byteBuffer(idx+(1:tlv.length));
%                     idx = idx + tlv.length;
%                     rp=rp(1:2:end)+rp(2:2:end)*256;
            end
            
        end
        %Remove processed data
        if idx > 0
            shiftSize = Header.totalPacketLen;
            byteBuffer(1: byteBufferLength-shiftSize) = byteBuffer(shiftSize+1:byteBufferLength);
            byteBufferLength = byteBufferLength - shiftSize;
            if byteBufferLength < 0
                %             fprintf('Error: bytevec_cp_len < bytevecAccLen, %d %d \n', bytevec_cp_len, bytevecAccLen)
                byteBufferLength = 0;
            end
        end
%         if byteBufferLength > (byteBufferLength * 7/8)
%             byteBufferLength = 0;
%         end
        
    else
        magiNotOkCounter = magiNotOkCounter + 1;
    end

示例程序

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% Description: 
% Author: Yu Xuyao
% Email: yxy19991102@163.com
% Date: 2020-12-25 00:26:00
% LastEditTime: 2020-12-25 00:26:00
% LastEditors: Yu Xuyao

clear all
close all
clc

VisualReview = 1;
FallDetection = 0;

delete(instrfind);

configFile = "AOPconfig.cfg";
configcmd = readCfgFile(configFile);
[CLI_sphandle,DATA_sphandle] = setupUART('COM3','COM5');
sendCfg(CLI_sphandle,configcmd);

limit = 4;
N= 10000;

figure

H1 = uicontrol('Style', 'PushButton', ...
                    'String', 'Shutdown', ...
                    'Callback', 'shutVal = 1','InnerPosition',[7,30,60,20]);
H2 = uicontrol('Style', 'PushButton', ...
                    'String', 'Stop', ...
                    'Callback', 'stopVal = 1','InnerPosition',[7,60,60,20]);
H3 = uicontrol('Style', 'PushButton', ...
                    'String', 'Start', ...
                    'Callback', 'startVal = 1','InnerPosition',[7,90,60,20]);  
 

h0 = scatter3([],[],[],'filled');
axis([-limit,limit,0,7,-1.5,1.5]);
xlabel('X (m)'); ylabel('Y (m)');zlabel('Z (m)');

myInd = 1;
dataOk = 0;
stopVal = 0;
startVal = 0;
shutVal = 0;
mask = 0;

frame = [];

while (myInd <= N)
    dataOk = 0;

    if mask ==1
        pause(0.1);
    else
        [dataOk, frameNumber, pointStruct,targetStruct2D] = readAndParseData(DATA_sphandle);
    end
    
    if stopVal == 1
        stopVal = 0;
        mask = 1;
        fprintf(CLI_sphandle, 'sensorStop\n');
    end
    
    if startVal == 1
        startVal = 0;
        mask = 0;
        fprintf(CLI_sphandle, 'sensorStart 0\n');
    end
    
    if shutVal == 1
        shutVal = 0;
        fprintf(CLI_sphandle, 'sensorStop\n');
        break;
    end
    
    if dataOk == 1
        XData = [];
        YData = [];
        ZData = [];

        graphXData = [];
        graphYData = [];
        graphZData = [];   
        % remove static points
        processingSignal = [pointStruct.elevation ;pointStruct.azimuth;pointStruct.doppler;pointStruct.range;pointStruct.snr];

        frame{myInd} = processingSignal';
        
        if VisualReview
            if myInd>3
                showData = [frame{myInd}; frame{myInd-1}; frame{myInd-2}];
            else
                showData = frame{myInd};
            end
            
			temp = showData(:,4) .* cos(showData(:,1));
			pos.XData = temp.*sin(showData(:,2));
			pos.YData = temp.*cos(showData(:,2));
			pos.ZData = showData(:,4) .* sin(showData(:,1));
			pos.Doppler = showData(:,3);
			pos.SNR = showData(:,5);

            % Plotprocessed points
            h0.XData = pos.XData;
            h0.YData = pos.YData;
            h0.ZData = pos.ZData;
            h0.SizeData = 3*ones(1,length(pos.ZData));
            h0.CData = abs(pos.Doppler);

            title(['Frame No.' num2str(myInd)]);
            drawnow limitrate;
        end
        
        pause(0.04);

        myInd = myInd + 1; 
    end
end
delete(instrfind);
close all