Radar Replay Sample#

Note

Third-party sensors and accessories noted on this page are for illustrative purposes. Please refer to NVIDIA® DRIVE® Hyperion™ 8.1 Sensors and Accessories for supported sensors and accessories.

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 NVIDIA DriveOS Release Notes.

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 command line for the sample is:

./sample_radar_replay [options]

Options#

The sample accepts the following optional arguments:

--protocol=radar.virtual|radar.socket|radar.custom|radar.live[=radar.virtual]#

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.

--params={key=value},{key=value},...[=file=data/samples/sensors/radar/conti/ars_v4.bin]#

Comma separated list of key/value pairs. Different parameters are available for each radar driver.

--output-dir={folder}#

Specifies the output directory, where stores radar dumps.

See also Common Options.

Interactive Controls#

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

Radar Point Clouds Sample#

Additional Information#

For more details see Radar.

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