Description

The Radar Replay Sample demonstrates how to connect to a radar and display the generated point cloud in 3D.

For a list of currently supported radar devices, see the Release Notes.

Description Prerequisites

The radar must be up and running, and connected to the network.
If the radar being used is the Continental ARS430 ethernet radar, the following commands need to be executed to setup the routing tables.

On Linux execute:

ARS430 radar:

sudo ifconfig eth0:900 10.1.0.81 || true
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev eth0:900 || true
sudo route add -net 10.1.0.0 netmask 255.255.0.0 dev eth0:900 || true

ARS430 RDI radar:

sudo ifconfig eth0:900 192.168.3.81 || true
sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev eth0:900 || true
sudo route add -net 192.168.3.0 netmask 255.255.255.0 dev eth0:900 || true

ARS620 OMS radar:

sudo ip link add link mgbe2_0 name mgbe2_0.1022 type vlan id 1022
sudo ip link set dev mgbe2_0.1022 up
sudo ip addr add 10.22.1.50/16 dev mgbe2_0.1022

Hella 6G0 OMS radar:

sudo ip link add link mgbe2_0 name mgbe2_0.1022 type vlan id 1022
sudo ip link set dev mgbe2_0.1022 up
sudo ip addr add 10.22.1.50/16 dev mgbe2_0.1022
 
sudo ip link add link mgbe2_0 name mgbe2_0.1027 type vlan id 1027
sudo ip link set dev mgbe2_0.1027 up
sudo ip addr add 10.27.0.1/16 dev mgbe2_0.1027

On QNX execute:

ARS430 radar:

ifconfig eq0 alias 10.1.0.81
route add 224.0.0.0 10.1.0.81 240.0.0.0
route add 10.1.0.0 10.1.0.81 255.255.0.0

ARS430 RDI radar:

ifconfig eq0 alias 192.168.3.81
route add 224.0.0.0 192.168.3.81 240.0.0.0
route add 192.168.3.0 192.168.3.81 255.255.255.0

Running the Sample

The Radar Replay Sample, sample_radar_replay, accepts the following parameters:

./sample_radar_replay \
    --protocol=[radar.virtual|radar.socket|radar.custom|radar.live] \
    --params=[comma/separated/key/value/pairs] \
    --output-dir=[path/to/output/dir] \
    --profiling=[0|1] \
    --offscreen=[0|1|2]

where:

--protocol=[radar.virtual|radar.socket|radar.custom|radar.live]
    Allows to specify which radar driver to use.
    radar.virtual is used for recorded file
    radar.socket is used for live IP based radars and custom decoder plugin
        based radars
    radar.custom is used for custom full sensor plugin based radars
    radar.live is used for new custom codec plugin based radars
    Default value: radar.virtual
 
--params=[comma/separated/key/value/pairs]
    Different parameters are available for each radar driver.
    Default value: file=path/to/data/samples/sensors/radar/conti/radar_0.bin
 
--output-dir=[path/to/output/dir]
    Specifies the output directory, where stores radar detection dumps.
    Default value: none
 
--profiling=[0|1]
    When set to 1, enables sample profiling. Otherwise, profiling is disabled.
    Default value: 1
 
--offscreen=[0|1|2]
    Used to run windowed apps in headless mode:
    0: Displays window.
    1: Displays offscreen window.
    2: No window created.
    Default value: 0

The following interactions with the sample are available at runtime:

Mouse Left Button: rotates the point cloud.
Mouse Wheel: zooms in or out.
Space: makes a pause.
R: resets the camera view and the artificially increased or decreased frame rate.
G: shows/hides circular and rectangular grid.
F1: shows/hides text message hints.

Note: For a full list of key/value pairs that can be passed to --params see Sensor Enumeration Sample.

Examples

Display Live Radar Point Clouds

./sample_radar_replay \
    --protocol=radar.socket \
    --params=device=[type of device],ip=[radar IP address],port=[radar port]

where [type of device] is one of the following:

CONTINENTAL_ARS430
CONTINENTAL_ARS430_RDI
CONTINENTAL_ARS430_RDI_V2
DELPHI_ESR2_5
CUSTOM

Note: In case of CONTINENTAL_ARS430, the additional parameter multicast-ip=239.0.0.1 is required.; For more information on using custom sensors see Integrating with Custom Sensors.

Display Recorded Radar Point Clouds

./sample_radar_replay --params=file=[radar bin file]

The radar file can be obtained with the provided recording tools.
If no arguments are passed, a default radar file is loaded.

Display Custom Radar Plugin Point Clouds

./sample_radar_replay \
    --protocol=radar.custom \
    --params=decoder-path=<path_to_so>[,<custom params>]

Display Codec Radar Plugin Point Clouds

./sample_radar_replay \
    --protocol=radar.live \
    --params=codec=<codec_name>[,<custom params>]

Output

The sample opens a window to display a 3D point cloud. The output contains directed unit velocity vectors, other than the points displayed.

If the velocity is 100 km/h or less, the directed vectors are red. If it is 200 km/h or more, they are green.

World space axes:

Red-OX
Blue-OY
Green-OZ

Radar Point Clouds Sample

Additional Information

For more details see Radar.

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