TI中文支持网
TI专业的中文技术问题搜集分享网站

在用people counting这里我运行程序gui.main去采集点云数据过一会会报错Point Cloud TLV Parser Failed

Part Number:IWR6843ISK-ODS

报错后我的点云每一帧就只有十二个点的数据,但实际在显示界面看有很多啊

我在oob_parser.py这个里看到了为啥会报错在第331行,

 def parseCapon3DPolar(self, data, tlvLength):
pUnitStruct = '5f' #elev, azim, doppler, range, snr
pUnitSize = struct.calcsize(pUnitStruct)
pUnit = struct.unpack(pUnitStruct, data[:pUnitSize])
data = data[pUnitSize:]
objStruct = '2bh2H' #2 int8, 1 int16, 2 uint16
objSize = struct.calcsize(objStruct)
self.numDetectedObj = int((tlvLength-pUnitSize)/objSize)
#if (self.printVerbosity == 1):
#print('Parsed Points: ', self.numDetectedObj)
for i in range(self.numDetectedObj):
try:
elev, az, doppler, ran, snr = struct.unpack(objStruct, data[:objSize])
#print(elev, az, doppler, ran, snr)
data = data[objSize:]
#get range, azimuth, doppler, snr
self.pcPolar[0,i] = ran*pUnit[3] #range
if (az >= 128):
print ('Az greater than 127')
az -= 256
if (elev >= 128):
print ('Elev greater than 127')
elev -= 256
if (doppler >= 32768):
print ('Doppler greater than 32768')
doppler -= 65536
self.pcPolar[1,i] = az*pUnit[1] #azimuth
self.pcPolar[2,i] = elev*pUnit[0] #elevation
self.pcPolar[3,i] = doppler*pUnit[2] #doppler
self.pcPolar[4,i] = snr*pUnit[4] #snr
#add pt cloud data to textStructCapon3DCapon3D for text file printing
#self.textStructCapon3DCapon3D[,,,] = [frame #][header,pt cloud data,target info]
#[][pt cloud = 0][pt index][#elev, azim, doppler, range, snr]
if(self.capon3D):
self.textStructCapon3D[self.frameNum%1000,1,i,0] = self.pcPolar[2,i] #elev
self.textStructCapon3D[self.frameNum%1000,1,i,1] = self.pcPolar[1,i] #az
self.textStructCapon3D[self.frameNum%1000,1,i,2] = self.pcPolar[3,i] #doppler
self.textStructCapon3D[self.frameNum%1000,1,i,3] = self.pcPolar[0,i] #range
self.textStructCapon3D[self.frameNum%1000,1,i,4] = self.pcPolar[4,i] #snr
except:
data = data[objSize:]
self.numDetectedObj = i
print('Point Cloud TLV Parser Failed')
break
self.polar2Cart3D()
代码说解包失败导致报错,请问是什么会导致解包失败.(我是直接用iwr6843ods来采集数据的,是否需要用DCA1000)
Shine:

请问用的是哪个版本的industrial toolbox? 报错信息是在运行mmWave_Industrial_Visualizer.exe是出现的吗?能否把错误信息截一下屏?

,

? ?:

运行的是mmwave_industrial_toolbox_4_11_0,我是运行"C:\ti\mmwave_industrial_toolbox_4_11_0\labs\People_Counting\visualizer\gui_main.py"出现的报错,

,

Shine:

直接运行mmWave_People_Counting_GUI.exe有这个问题么?

,

? ?:

是的,你能发给那边的工程师看看吗,这个问题挺头疼的

,

Shine:

我运行了一下mmWave_People_Counting_GUI.exe,没有报错。

,

? ?:

您有在ti\mmwave_industrial_toolbox_4_11_0\labs\People_Counting\visualizer\oob_parser中修改修改参数,选择保存点云数据吗

您长时间运行下看看,然后看下弹出的一个指令框,或者您运行gui,main的py文件然后看下运行栏呢

,

Shine:

请问改了什么参数出现这个问题?运行多长时间出现这个问题?这个问题是偶然出现的还是每次都会出现?

,

? ?:

 self.saveBinary=1,设置这个保存点云数据啊,运行超过一千帧左右就会出现这样错误,每一次实验运行时间长了就会这样,所以您知道这问题出在那里吗

,

Shine:

那还是您之前这个帖子的问题是么?https://e2echina.ti.com/support/sensors/f/sensors-forum/305723/iwr6843isk-ods-3dpeople-counting-demo/1030297

,

? ?:

是的,之前帖子我找不到了,所以重新问一下,由于tlv解析点云失败,导致我在五人或者更多目标的数据数据时一帧就只有短短的十几行,无法进行后续的实验分析

,

Shine:

已把您的问题升到英文e2e论坛,因为后面是假期,e2echina放假,您也可以用您公司的邮箱在e2e帖子上回复国外工程师。https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1221663/iwr6843-point-cloud-tlv-parser-failed

,

Shine:

请看下面e2e工程师的回复。

I'm not sure which line the customer is referring to here. I think they must have made some modifications to the visualizer code. Can you let me know what those are? Line 331 is a function definition for me.

,

? ?:

374行

print('Point Cloud TLV Parser Failed')我在长时间运行后就会这个,我电脑不应该会解析力不够导致这样吧,对代码我仅仅修改了122和123行
self.saveBinary = 1self.saveTextFile = 1

,

Shine:

已跟进!

,

Shine:

请看下面e2e工程师的回复。

Thanks. It is possible that this issue is caused by PC performance. When this happens, is the computer connected to power? Or is it running on a laptop which is unplugged? Also the 'Power Mode' in Windows should be set to 'best performance'. We have seen issues in the past with unplugged laptops when running the visualizer. I'm also wondering if the customer has tried to run this on another PC?

I also want to ask, is there any specific reason that the customer is using Industrial Toolbox 4.11? The visualizer has received some updates and improvements since the 4.11 release. I'm curious if the customer has tried the visualizer in the latest Radar Toolbox release?  

,

? ?:

谢谢,我电脑是插电状态,但是我检查发现没有开启最佳性能模式.我刚才开了最佳性能模式,依然出现同样问题.

对于最新的Radar Toolbox,我之前下载了一直没仔细去看,感觉有点杂乱,所以就一直在用Industrial Toolbox 4.11

,

? ?:

另外我想知道最新的这个可视化工具可否设置保存采集到的点云,我看一下,没有看到设置的地方,另外我在radar_toolbox_1_00_00_26里运行最新可视化界面遇到了新的问题.对于这个问题我在parseFrame.py里53行找到了,但不清楚具体原因,希望得到解答,再次感谢.

,

Shine:

已跟进,请关注帖子的回复。

,

Shine:

请看下面e2e工程师的回复。Sorry for the delay here. When using the visualizer GUI in radar_toolbox_1_00_00_26, what is flashed on the device? Is it the 3D People Counting binary file from radar_toolbox_1_00_00_26? I'm also wondering if this error is seen every time after launching? Does it only happen occasionally? 

,

? ?:

抱歉之前生病了回复晚了,flash的是Industrial Toolbox 4.11里的labs\People_Counting\3D_People_Counting\prebuilt_binaries的3D_people_count_68xx_demo.bin,在用radar_toolbox_1_00_00_26的可视化工具就一直这样报错.

另外用这个可视化工具怎么可以保存输出点云二进制文件和csv文件.

还有就是想请问下我电脑开了最佳性能模式运行Industrial Toolbox 4.11里的可视化工具,依然出现之前所说的tlv解析点云失败的问题.并且每次都会出现.

,

Shine:

已跟进,请关注帖子的回复。

,

Shine:

请看下面e2e工程师的回复。

Understood. The customer must flash the binary file from radar_toolbox_1_00_00_26 in order to use the visualizer from radar_toolbox_1_00_00_26. Unfortunately the visualizer is not backwards compatible with previous versions of the demo code. 

Can the customer try this?

,

? ?:

谢谢,我已经成功运行了,但是我没看到这个版本可以保存数据,请问是没有这个功能吗,另外我遇到一个新报错问题,ValueError: could not broadcast input array from shape (3,) into shape (0,)

,

Shine:

已跟进!

另外,能分享一下前面报错信息的解决办法么?

,

? ?:

最开始tlv解析点云失败这个问题并没有解决,还请工程师指导下,后来用最新可视化工具出现的问题解决方法就是烧写同版本的bin文件就好

,

Shine:

好的,感谢分享!

,

Shine:

请看下面e2e工程师的回复。You can save the data if you run the python source and set saveBin to 1.

,

? ?:

抱歉我没有在radar_toolbox_1_00_00_26这个版本里找到saveBin和saveTextFile,能告诉我具体在哪吗?或者我们回到最初的问题吧,在您告诉我电脑电源打开最佳模式运行Industrial Toolbox 4.11里的可视化工具后依然出现Point Cloud TLV Parser Failed这个报错,我还是急需解决这个问题,这问题导致我保存下的点云数目明显过少

,

Shine:

已跟进,请关注帖子的回复。

,

Shine:

请看下面e2e工程师的回复。

self.saveBinary = 0 is in the python code for the industrial visualizer in gui_parser.py.

There are some warning/error messages that may come out of the visualizer when data is streamed very fast. If the visualizer continues to operate correctly, then I would not worry about them. Does this error impede the visualizer from running?

,

? ?:

 抱歉我并没有在radar_toolbox_1_00_00_26这个版本里的gui_parser.py.里找到saveBinary

另外这个报错不会耽误可视化工具运行,但是我担心这个是否影响点云的保存.我在csv文件里查看时到后面,每一帧点云数量都固定只有12行,如下图所示 此时我采集的其实是四个目标的数据,在可视化工具里看的数量与实际输出的不符,可视化看到的数量远多于保存输出的数量.

,

Shine:

已跟进,请关注工程师的回复。

,

Shine:

抱歉回复晚了,请看下面e2e工程师的最新回复。Is the customer able to download Radar Toolbox version 1.00.01.07? Support for saving output data was added back with this version. (This is why with 1.00.00.26 the customer can not see self.saveBinary).

,

? ?:

谢谢指导,但我没找代码中说明bin文件里数据结构,这样我无法解析bin文件,我希望后面可以保存为csv文件,这样看数据可以更直观点

,

Shine:

已跟进!

,

Shine:

请看下面e2e工程师的回复。

I'm sorry about the delayed response here. The file is saved as binary UART data. If you the customer needs to convert this to CSV file then please direct the customer to this example parser script at <MMWAVE_SDK3_INSTALL_DIR>/packages/ti/demo/parser_scripts. 

The relevant files are mmw_demo_example_script.py and parser_mmw_demo.py. There are comments at the top of mmw_demo_example_script.py which describe the scripts usage.

,

? ?:

对不起,回复那么迟,感谢指点,最近一直在做尝试解析BIN文件转换为CSV文件,但是一直错误乱码,可能我代码能力太差了,还请指点一下

,

Shine:

? ? 说:但是一直错误乱码

请具体描述一下您的问题,错误乱码是什么?什么时候出现的?

,

? ?:

  这个type是否解析错误,不应该是十进制数吗

,

Shine:

已跟进!

赞(0)
未经允许不得转载:TI中文支持网 » 在用people counting这里我运行程序gui.main去采集点云数据过一会会报错Point Cloud TLV Parser Failed
分享到: 更多 (0)