C: Radar Sensor

This example loads radar_example.usda, renders a radar PointCloud output, maps the composite render variable to CPU memory, and reads the named tensor channels. The moving target approaches the radar, so its RadialVelocityMs values are expected to be negative.

The scene is Z-up and contains a radar at (0, 0, 1) rotated to look along world +X, an asphalt ground plane, a moving steel cube, and a fixed concrete cube. The USD requests Coordinates, Counts, RCS, and RadialVelocityMs channels.

The executable applies the runtime setting --/renderer/raytracingMotion/enabled=true because MotionBVH is required for moving-object radial velocity.

“Create a C/C++ radar sensor example that applies required runtime settings before renderer creation, loads an animated radar scene, advances scene time across several simulation steps, reads valid detection data including signal strength and signed radial velocity, prints per-step summaries, reports moving-target observations, and cleans up all resources.”

Build and Run

Linux

Prerequisites

sudo apt install build-essential cmake

Building

cd examples/c/sensors/radar
cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
cmake --build build

Running

./build/radar-composite-tensor

You can also pass an explicit scene path:

./build/radar-composite-tensor path/to/radar_example.usda

Windows

Prerequisites

• Visual Studio 2017+

Building

cd examples/c/sensors/radar
cmake -S . -B build
cmake --build build --config Release

Running

.\build\Release\radar-composite-tensor.exe

Expected output values vary, but a successful run prints 10 steps and a final observation line summarizing detections with nonzero radial velocity.