Radar Sensors

An ovrtx radar scene needs an OmniRadar sensor prim and a RenderProduct whose PointCloud RenderVar requests the detection channels the application will read. The same USDA pattern is used by C and Python.

Configure the Radar Prim

Python Example Scene

    def OmniRadar "Radar" (
        prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI"]
    )
    {
        token omni:sensor:WpmDmat:elementsCoordsType = "CARTESIAN"
        double2 omni:sensor:frameRate = (10, 1)

        double3 xformOp:translate = (0, 0, 1)
        float3 xformOp:rotateXYZ = (90, 0, -90)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
    }

C Example Scene

    def OmniRadar "Radar" (
        prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI"]
    )
    {
        token omni:sensor:WpmDmat:elementsCoordsType = "CARTESIAN"
        double2 omni:sensor:frameRate = (10, 1)

        double3 xformOp:translate = (0, 0, 1)
        float3 xformOp:rotateXYZ = (90, 0, -90)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ"]
    }

Use OmniSensorGenericRadarWpmDmatAPI for the generic WPM DMAT radar model. The default scan is s001. Apply additional scan configuration API schemas only when authoring multiple scan patterns.

Important Output Attributes

Attribute	Values	Use
omni:sensor:WpmDmat:auxOutputType	NONE, BASIC, EXTRA, FULL	Controls auxiliary data in GenericModelOutput. It does not add PointCloud channels.
omni:sensor:WpmDmat:elementsCoordsType	CARTESIAN or SPHERICAL	Coordinate representation for detections.
omni:sensor:WpmDmat:outputFrameOfReference	SENSOR, WORLD, or CUSTOM	Frame of reference for all outputs.
omni:sensor:WpmDmat:customFrameOfReferenceTrafo	[x, y, z, roll, pitch, yaw]	Custom transform used when the output frame is CUSTOM.

Configure PointCloud Output

Python Example Scene

    def "Render"
    {
        def "Products"
        {
            def RenderProduct "RadarProduct"
            {
                rel camera = </World/Radar>
                rel orderedVars = [<../../Vars/PointCloud>]
            }
        }

        def "Vars"
        {
            def RenderVar "PointCloud"
            {
                uniform string sourceName = "PointCloud"
                string[] channels = [
                    "Coordinates",
                    "Counts",
                    "RadialVelocityMs"
                ]
            }
        }
    }

C Example Scene

    def "Render"
    {
        def "Products"
        {
            def RenderProduct "RadarProduct"
            {
                rel camera = </World/Radar>
                rel orderedVars = [<../../Vars/PointCloud>]
            }
        }

        def "Vars"
        {
            def RenderVar "PointCloud"
            {
                uniform string sourceName = "PointCloud"
                string[] channels = [
                    "Coordinates",
                    "Counts",
                    "RCS",
                    "RadialVelocityMs"
                ]
            }
        }
    }

Request only the channels the consumer needs. Counts and Flags are auto-enabled and delivered like ordinary channel tensors.

Radar Channels

Channel	Meaning
Counts	Number of delivered detections. Use it to bound every per-detection tensor.
Coordinates	Detection coordinates in the configured coordinate representation and frame.
RCS	Radar cross section in dBsm.
RadialVelocityMs	Signed Doppler radial velocity in meters per second.
TimeOffsetNs	Per-detection time offset relative to scan start.
Flags	Per-detection status bits. The VALID bit is 0x40.

Interpreting Radar Output

Within the first Counts[0] entries, a detection is valid when Flags[i] & 0x40 is non-zero. RadialVelocityMs is signed; approaching detections can be negative, so use absolute value when checking only for motion.

For map/read code, see Reading Sensor PointClouds. For material behavior that affects radar returns, see Non-Visual Materials.