C: Radar Sensor#

This example populates an ovstage instance from radar_example.usda, attaches it to the renderer, renders a radar PointCloud output through ovrtx_step_with_stage, maps the composite render variable to CPU memory, and reads the named tensor channels. ovstage owns scene ingest and stepping; sensor output fetch/map stays a renderer-side concern on the ovrtx APIs. 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 enables MotionBVH through ovrtx_config_t at renderer creation because it is required for moving-object radial velocity.

“Create a C/C++ radar sensor example that configures the renderer for sensor output, 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.”

Radar sensor example output

Build and Run#

Prerequisites

sudo apt install build-essential cmake

Building

cd examples/c/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

Prerequisites

Building

cd examples/c/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.

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