RSBR

The Radar Shooting Bouncing Ray (RSBR) sensor provides ground truth hit point access to targets that are within the field-of-view of a simulated radar. The output of the sensor provides target intersection information at the resolution and field-of-view specified by the configuration.

Configuration

{
    "type": "RSBR",
    "listen_port": 0,
    "location": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0
    },
    "rotation": {
        "pitch": 0.0,
        "roll": 0.0,
        "yaw": 0.0
    },
    "azi_fov": 90,
    "ele_fov": 90,
    "scan_distance": 3000,
    "debug_draw": false,
    "num_threads": 8
}

• azi_fov: The horizontal field-of-view along the azimuth of the sensor in degrees.
• ele_fov: The vertical field-of-view along the elevation of the sensor in degrees.
• scan_distance: The maximum distance the sensor will detect objects in centimeters.
• debug_draw: If true, the rays that are cast will be drawn in editor mode.
• num_threads: The total number of threads that will be used to compute the ray casts.

Raw Output

The RSBR dataframe contains a vector of RSBRHitPoints. The directions and normals are within the RSBR sensor's coordinate frame. Here is the information for a single hit point.

• distance: The magnitude of the vector from the sensor to the target in meters.
• dir_x: The distance in the x-direction in centimeters.
• dir_y: The distance in the y-direction in centimeters.
• dir_z: The distance in the z-direction in centimeters.
• radial_velocity: The velocity along the radial direction of the ray.
• reflection: The electrical intensity of the return for the Radar.
• normal_x: The x component of the unit normal vector.
• normal_y: The y component of the unit normal vector.
• normal_z: The z component of the unit normal vector.
• dielectric_constant: The coefficient of the material's dielectric property.
• roughness: The coefficient of the material's roughness property.