本期要讲的内容是Peak grouping，译为峰值聚合。

代码走读到了这里：

/* Peak grouping */
    obj->numDetObjRaw = numDetObj2D;
    if (obj->cliCfg->peakGroupingCfg.scheme == MMW_PEAK_GROUPING_CFAR_PEAK_BASED)
    {
        numDetObj2D = MmwDemo_cfarPeakGroupingCfarQualified( obj->detObj2D,
                                                obj->detObj2DRaw,
                                                numDetObj2D,
                                                obj->numDopplerBins,
                                                obj->cliCfg->peakGroupingCfg.maxRangeIndex,
                                                obj->cliCfg->peakGroupingCfg.minRangeIndex,
                                                obj->cliCfg->peakGroupingCfg.inDopplerDirectionEn,
                                                obj->cliCfg->peakGroupingCfg.inRangeDirectionEn);
    }
    else if (obj->cliCfg->peak