TI 毫米波雷达Industrail Toolbox

MMWSDK-2315 Version 0.114 In this release, azimuth angle tilt support was added to enable customers to place the radar in the corner of a room and easily filter out objects outside the room. This effectively increases the field of view in indoor situations by placing the blind spots of the radar behind the walls of the room. The tracker library now supports elevation tilt and azimuth tilt directions simultaneously. Summary of changes: - gtrac_create.c, gtrack_math.c, gtrack_utilities_3D.c, gtrack_int.h all updated to include azimuth tilt support. - Tracker tuning guide documentation is updated. MMWSDK-2315 Version 0.113 In this release, static retention feature is added, and the static track takeaway issue is solved. Release covers (matlab/mex and c sources). Summary of changes: - The stdbool library is included in the gtrack.h to make it working with the new VS versions. - The velocity is limited when changing the state of a static track to dynamic. - Gating gain is reduced to 1 when dynamics points are associated to the static tracks. Gating gain is increased to 2 for all the static points. - The logic to reset sleep2free counter is added. MMWSDK-2315 Version 0.112 This release is unified tracker library version 0.112. Release covers (matlab/mex and c sources), as well as all supported configurations) Library is tested against 2DWM, 3DWM, and 3DCM configurations Matlab results: 2DWM = 86.26, 3DWM = 97.78, 3DCM = 95.87 Mex results: 2DWM = 86.19, 3DWM = 97.78, 3DCM = 95.77 C/MSVC code passes autoregression for 2D and 3D. Changes are related to allowing boresight filtering to be enabled/disabled from configuration instead of being always enabled for ceiling mount. This is to reduce boresight track loss in low density point cloud scenario (specifically in low bandwidth ceiling mount configuration). Summary of changes: - Documentation file is updated. - Added boresight filtering flag in config structure and used in gtrack_create and gtrack_step functions. - Updated Matlab and C sources as well as Matlab, Mex and C tests to use the new parameter. MMWSDK-2315 Version 0.111 This release is unified tracker library version 0.111. Release covers (matlab/mex and c sources), as well as all supported configurations) Library is tested against 2DWM, 3DWM, and 3DCM configurations Matlab results: 2DWM = 86.26, 3DWM = 97.78, 3DCM = 95.87 Mex results: 2DWM = 86.19, 3DWM = 97.78, 3DCM = 95.77 C/MSVC code passes autoregression for 2D and 3D. Changes are mostly related to improvements required by AC customer for 2DWM configuration. Summary of changes: - Documentation file is updated. - Added missing matlab files polar2world and worl2polar - Added configurations for minimal static velocity (no points, and no dynamic points cases), - Added configuration for minimal velocity for slow down decision - Fixed no static points error in matlab script Detailed changes: 1. Allocation function changes: - Added initialization of expected number of points based on allocation decision - Added logic for allocations in exit zone to use larger SNR 2. Association function changes: - Ghost marking changes: a) ghost center is moved to +=0.8m (from +=1.2m) b) static decision (for ghost marking) is changed to instantenious xyVelocity c) marking procedure is modified as two independent decisions on "likely" and "wihin solid angle" ghosts d) uniqueness property is cleared only for "likely" ghosts - Gating changes: a) Static points can only be reached with unitary gain b) Doppler differences are magnified to 3x 3. Update function changes: - Added support for minStatic velocities configurations - Spread is now allowed to change from 1x to 2x of configured limits - Rc formula is fixed 4. Event management changes: - New definitiion of HIT event: for static targets, any point is a hit, while for dynamic target hit now requires a dynamic point MMWSDK-2282 Version 0.110 Doxygen changes Klockwork warnings fixes Merge pull request #1439 in MMWAVE/mmwave_sdk from feature/MMWSDK-1928-tracker-with-static to development * commit '08bb0162325c3ca9c86a0d441847d2e908ec9307': MMWSDK-1928 Version 0.109 Adds few missing Doxygen comments Deletes unused varParams structure Moved unrollingParams to internal header MMWSDK-1928 Version 0.109 Adds few missing Doxygen comments Deletes unused varParams structure MMWSDK-1928 Version 0.108 MMWSDK-1928 Version 0.107 Update to include presence detection module Added Presence Detection interface - Updated matlab model - Updated mex functions mex_create and mex_step - Module level function is added to the set of functions called every frame - Benchmarking is extended to include presence detection - Parameters structure for presence detection includes: points threshold, approaching velocity, on to off counter, and occupancy box(es). - Similar to other boxes, occupancy box is rotated (if required) based on sensor elevation tilt. - Presnce indication is now returned by step functions - Step function API changed. Added a pointer to return presence MMWSDK-1928 Version 0.106 Added support for 3D separate configurations for ceiling/wall mount. - Ceiling mount configration is determined based on elevation tilt parameter. (90 +/-10 degress) Added logic to remove boresight static reflections. - This is enabled for 3D configuration with ceiling mount option. - The cone is hard codded for <6 degrees and >2m range. Added skip prediction function. - Target may not need to be in static condition (example: have non-unique dynamic points) and choose to skip the prediction. Added flag to skip estimation of expected number of points. - For 3D ceiling mount, we never see full body, hence we set it to the person geometrical shape (100). Added abs function to off-diagonal covariance matrix Changed limits in spreading calculation. It is now based within [75:200] percents from configured geometrical limits MMWSDK-1928 Version 0.106 Added support for 3D separate configurations for ceiling/wall mount. - Ceiling mount configration is determined based on elevation tilt parameter. (90 +/-10 degress) Added logic to remove boresight static reflections. - This is enabled for 3D configuration with ceiling mount option. - The cone is hard codded for <6 degrees and >2m range. Added skip prediction function. - Target may not need to be in static condition (example: have non-unique dynamic points) and choose to skip the prediction. Added flag to skip estimation of expected number of points. - For 3D ceiling mount, we never see full body, hence we set it to the person geometrical shape (100). Added abs function to off-diagonal covariance matrix Changed limits in spreading calculation. It is now based within [75:200] percents from configured geometrical limits MMWSDK-1928 Version 0.105 Updated with changes needed for target runs. Built and passed functional test vectors on R5F. MMWSDK-1928 Version 0.104 Changes to improve performance for 3D ceiling mount tracker. Performance is assessed based on the test suite of 10 test vectors in empty room with ODS sensor mounted at 2.8m height, facing down RF Layer velocity resolution 0.032m/s, range is 5.2m. PHY Layer is symmetrical, zooming based, followed by doppler compute. MMWSDK-1928 Version 0.103 Changes to improve performance for 2D wallmount tracker. Performance is assessed based on the test suite of 12 test vectors in cluttered room with significant multipath present. MMWSDK-1928 Version 0.102 Changes includes ghost marking feature. Points behind moving target are marked as potential ghost points. Allocations are allowed. Note that those changes aren't fully regressed. In fact, the performance is degraded in relative ghost-free scenes. We'll address the those issues in later updates. MMWSDK-1928 Version 0.101 Modified scene parameters to include sensor position and orientation. Added logic to modify bondary/static box parmaeters based on sensor orientation Changed default scenery pa