Omniverse Radar Extension#

Introduction#

The Radar Sensor extension consists of models and OmniGraph nodes for various post-processing functions (e.g., transcoding Radar data into vendor-specific formats).

Currently, the extension supports one model:

WpmDmatApproxRadar

This model has its own parameterization and at least one post-processing OmniGraph definition that specifies the processing pipeline nodes with default parameters.

Multiple post-processing OmniGraphs can exist for the same Radar model, each with unique parameter values and/or different node configurations.

“WpmDmatApprox” stands for “Wave Propagation Model Detection Matrix Approximation”. It uses the Wave Propagation Model (WPM) to ensure high fidelity while maintaining real-time capability. Key features include:

Multiple bounces
Support for different materials and improved radiometry
Antenna gain patterns with separated Tx/Rx element support
Initial MIMO radar support with real and virtual receiving apertures (real aperture: 1 Tx, N Rx; virtual aperture: M Tx, N Rx → virtual: 1 Tx, M×N Rx). Real Tx and Rx elements are assumed to form an L-shape configuration so that the virtual receiving antenna array forms a 2D uniform planar array
Multiple scan configurations (e.g. near and far scan) per Radar instance

Example Radar Prim

This is an example of how to define a Radar sensor in USD:

def OmniRadar "generic_radar" (
    doc = """Defines an instance of a radar that uses WPM DMAT approximation model"""
    prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI", "OmniSensorGenericRadarWpmDmatScanCfgAPI:s002"]
)
# Note: OmniSensorGenericRadarWpmDmatAPI automatically includes OmniSensorGenericRadarWpmDmatScanCfgAPI:s001
# by default, so this example configures two scans: s001 and s002
{
    # Global radar parameters from OmniSensorGenericRadarWpmDmatAPI
    float omni:sensor:tickRate = 20.0
    token omni:sensor:WpmDmat:elementsCoordsType = "SPHERICAL"
    token omni:sensor:WpmDmat:outputFrameOfReference = "SENSOR"
    float[] omni:sensor:WpmDmat:customFrameOfReferenceTrafo = [0,0,0,0,0,0]
    float omni:sensor:WpmDmat:wavelengthmm = 3.9
    uint omni:sensor:WpmDmat:tracetreedepth = 4
    uint omni:sensor:WpmDmat:instancetimeoffsetusec = 5000
    token omni:sensor:WpmDmat:cfarmode = "2D"

    # First scan configuration (short range, wide angle)
    token omni:sensor:WpmDmat:scan:s001:elevMode = "NO_EL"
    token omni:sensor:WpmDmat:scan:s001:datacubeMode = "FAST"
    float omni:sensor:WpmDmat:scan:s001:maxRangeM = 50
    float omni:sensor:WpmDmat:scan:s001:maxAzAngDeg = 75
    float omni:sensor:WpmDmat:scan:s001:maxElAngDeg = 20
    float omni:sensor:WpmDmat:scan:s001:raysPerDeg = 8.0
    uint omni:sensor:WpmDmat:scan:s001:timeOffsetUsec = 0
    float omni:sensor:WpmDmat:scan:s001:powerFactor = 1.0
    bool omni:sensor:WpmDmat:scan:s001:binsFromSpec = true
    bool omni:sensor:WpmDmat:scan:s001:enAngAliasing = false
    bool omni:sensor:WpmDmat:scan:s001:enableRangeAliasing = false
    bool omni:sensor:WpmDmat:scan:s001:detValFromBinIdx = false
    float omni:sensor:WpmDmat:scan:s001:rangeResM = 0.4
    float omni:sensor:WpmDmat:scan:s001:velResMps = 0.147
    float omni:sensor:WpmDmat:scan:s001:boreAzResDeg = 1.3
    float omni:sensor:WpmDmat:scan:s001:boreElResDeg = 5.0
    uint omni:sensor:WpmDmat:scan:s001:rBins = 112
    uint omni:sensor:WpmDmat:scan:s001:vBins = 160
    uint omni:sensor:WpmDmat:scan:s001:azBins = 12
    uint omni:sensor:WpmDmat:scan:s001:elBins = 2
    uint omni:sensor:WpmDmat:scan:s001:cfarRnT = 1
    uint omni:sensor:WpmDmat:scan:s001:cfarRnG = 0
    uint omni:sensor:WpmDmat:scan:s001:cfarVnT = 1
    uint omni:sensor:WpmDmat:scan:s001:cfarVnG = 0
    uint omni:sensor:WpmDmat:scan:s001:cfarAznT = 1
    uint omni:sensor:WpmDmat:scan:s001:cfarAznG = 0
    uint omni:sensor:WpmDmat:scan:s001:cfarElnT = 1
    uint omni:sensor:WpmDmat:scan:s001:cfarElnG = 0
    float omni:sensor:WpmDmat:scan:s001:cfarMinVal = 7e-17
    float omni:sensor:WpmDmat:scan:s001:cfarOffset = 1.0
    float omni:sensor:WpmDmat:scan:s001:cfarNoiseMean = 0.0
    float omni:sensor:WpmDmat:scan:s001:cfarNoiseSDev = 0.0
    float[] omni:sensor:WpmDmat:scan:s001:maxVelMpsSequence = [50.0, 55.0]
    float[] omni:sensor:WpmDmat:scan:s001:rcsTuningCoefficients = [-12, 150, 0.0]
    float omni:sensor:WpmDmat:scan:s001:azimuthRadNoiseMean = 0.0
    float omni:sensor:WpmDmat:scan:s001:azimuthRadNoiseSDev = 0.0
    float omni:sensor:WpmDmat:scan:s001:elevationRadNoiseMean = 0.0
    float omni:sensor:WpmDmat:scan:s001:elevationRadNoiseSDev = 0.0
    float omni:sensor:WpmDmat:scan:s001:velocityNoiseMean = 0.0
    float omni:sensor:WpmDmat:scan:s001:velocityNoiseSDev = 0.0
    float omni:sensor:WpmDmat:scan:s001:rangeNoiseMean = 0.0
    float omni:sensor:WpmDmat:scan:s001:rangeNoiseSDev = 0.0
    float omni:sensor:WpmDmat:scan:s001:exponentialDecayFactor = 1.0

    # Window selections (per-dimension)
    token omni:sensor:WpmDmat:scan:s001:windowAzimuth = "RECT"
    token omni:sensor:WpmDmat:scan:s001:windowElevation = "RECT"
    token omni:sensor:WpmDmat:scan:s001:windowSlowTime = "RECT"
    token omni:sensor:WpmDmat:scan:s001:windowFastTime = "RECT"

    # Signal processing parameters (when datacubeMode = "WAVEFORM")
    uint omni:sensor:WpmDmat:scan:s001:arrayAzimuthElements = 85
    uint omni:sensor:WpmDmat:scan:s001:arrayElevationElements = 14
    uint omni:sensor:WpmDmat:scan:s001:slowTimeSamples = 379
    uint omni:sensor:WpmDmat:scan:s001:fastTimeSamples = 625
    uint omni:sensor:WpmDmat:scan:s001:azimuthPaddingSamples = 128
    uint omni:sensor:WpmDmat:scan:s001:elevationPaddingSamples = 32
    uint omni:sensor:WpmDmat:scan:s001:slowTimePaddingSamples = 512
    uint omni:sensor:WpmDmat:scan:s001:fastTimePaddingSamples = 1024
    float omni:sensor:WpmDmat:scan:s001:azimuthElementSpacing = 0.00236
    float omni:sensor:WpmDmat:scan:s001:elevationElementSpacing = 0.00332
    float omni:sensor:WpmDmat:scan:s001:carrierFrequency = 77e9
    float omni:sensor:WpmDmat:scan:s001:chirpDuration = 6.4e-05
    float omni:sensor:WpmDmat:scan:s001:chirpBandwidth = 1.5e9
    float omni:sensor:WpmDmat:scan:s001:chirpRepetitionTime = 35e-06
    float omni:sensor:WpmDmat:scan:s001:frequencyStepBetweenChirps = 0.0
    float omni:sensor:WpmDmat:scan:s001:supportFactor = 1.0

    # Array steering parameters
    float omni:sensor:WpmDmat:scan:s001:azimuthSteeringAngleDeg = 0.0
    float omni:sensor:WpmDmat:scan:s001:elevationSteeringAngleDeg = 0.0

    # Separate Tx/Rx element and (virtual) receiving aperture parameters (per-scan)
    # Tx element
    token omni:sensor:WpmDmat:scan:s001:txAntennaGainMode = "COSINE_FALLOFF"
    uint  omni:sensor:WpmDmat:scan:s001:txArrayAzimuthElements = 85
    uint  omni:sensor:WpmDmat:scan:s001:txArrayElevationElements = 14
    float omni:sensor:WpmDmat:scan:s001:txAzimuthElementSpacing = 0.00236
    float omni:sensor:WpmDmat:scan:s001:txElevationElementSpacing = 0.00332
    token omni:sensor:WpmDmat:scan:s001:txWindowAzimuth = "RECT"
    token omni:sensor:WpmDmat:scan:s001:txWindowElevation = "RECT"
    float omni:sensor:WpmDmat:scan:s001:txAzimuthSteeringAngleDeg = 0.0
    float omni:sensor:WpmDmat:scan:s001:txElevationSteeringAngleDeg = 0.0

    # Rx element
    token omni:sensor:WpmDmat:scan:s001:rxAntennaGainMode = "COSINE_FALLOFF"
    uint  omni:sensor:WpmDmat:scan:s001:rxArrayAzimuthElements = 85
    uint  omni:sensor:WpmDmat:scan:s001:rxArrayElevationElements = 14
    float omni:sensor:WpmDmat:scan:s001:rxAzimuthElementSpacing = 0.00236
    float omni:sensor:WpmDmat:scan:s001:rxElevationElementSpacing = 0.00332
    token omni:sensor:WpmDmat:scan:s001:rxWindowAzimuth = "RECT"
    token omni:sensor:WpmDmat:scan:s001:rxWindowElevation = "RECT"
    float omni:sensor:WpmDmat:scan:s001:rxAzimuthSteeringAngleDeg = 0.0
    float omni:sensor:WpmDmat:scan:s001:rxElevationSteeringAngleDeg = 0.0

    # (Virtual) receiving aperture — governs waveform datacube sizes and FFT processing
    uint  omni:sensor:WpmDmat:scan:s001:apertureArrayAzimuthElements = 85
    uint  omni:sensor:WpmDmat:scan:s001:apertureArrayElevationElements = 14
    float omni:sensor:WpmDmat:scan:s001:apertureAzimuthElementSpacing = 0.00236
    float omni:sensor:WpmDmat:scan:s001:apertureElevationElementSpacing = 0.00332
    token omni:sensor:WpmDmat:scan:s001:apertureWindowAzimuth = "RECT"
    token omni:sensor:WpmDmat:scan:s001:apertureWindowElevation = "RECT"

    # Debug parameters for development
    bool omni:sensor:WpmDmat:scan:s001:debugForceDetection = false
    float omni:sensor:WpmDmat:scan:s001:debugForceRange = 20.0
    float omni:sensor:WpmDmat:scan:s001:debugForceV = 5.0
    float omni:sensor:WpmDmat:scan:s001:debugForceAz = 0.0
    float omni:sensor:WpmDmat:scan:s001:debugForceEl = 0.0

    # Second scan configuration (long range, narrow angle)
    token omni:sensor:WpmDmat:scan:s002:elevMode = "POS_EL"
    token omni:sensor:WpmDmat:scan:s002:datacubeMode = "FAST"
    float omni:sensor:WpmDmat:scan:s002:maxRangeM = 300
    float omni:sensor:WpmDmat:scan:s002:maxAzAngDeg = 9
    float omni:sensor:WpmDmat:scan:s002:maxElAngDeg = 7
    # Define more parameters for s002 analogously to s001...

    def RenderProduct "RenderedOutputs"
    {
        uniform int2 resolution = (1280, 720)
        rel camera = <../../generic_radar>
        rel orderedVars = [
            <SupportedOutputs/RtxSensorGmo>,
            <SupportedOutputs/RtxSensorMetadata>,
        ]

        def Scope "SupportedOutputs"
        {
            def RenderVar "RtxSensorGmo"
            {
                uniform string sourceName = "GenericModelOutput"
            }
            def RenderVar "RtxSensorMetadata"
            {
                string sourceName = "RtxSensorMetadata"
            }
        }
    }
}

Setting Radar attributes#

Defining Output#

Radar output is provided as a GenericModelOutput struct. The following Radar attributes define the output format:

Attribute	Type	Description
auxOutputType	token	Controls whether auxiliary data is included in the `GenericModelOutput`. Allowed tokens: “NONE”, “BASIC”, “EXTRA”, “FULL”. For radar, “NONE” provides no auxiliary data, while “BASIC”, “EXTRA”, and “FULL” all provide the complete auxiliary data including scan metadata (sensorID, scanIdx, cycleCnt, range/velocity/angle limits) and radial velocity per detection.
elementsCoordsType	token	Sets the desired coordinate system for the output basic elements. Allowed tokens: “CARTESIAN”, “SPHERICAL”.
outputFrameOfReference	token	Sets the desired frame of reference for all outputs. Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM”.
customFrameOfReferenceTrafo	float[]	Used only if outputFrameOfReference = CUSTOM. Defines the transformation for the custom frame of reference. The array is structured as [x,y,z,roll,pitch,yaw].

General Configuration#

There are many attributes specific to OmniRadar prims that must be set to configure sensor behavior. The Radar sensor simulation supports multiple scan patterns, allowing a Radar to behave differently, e.g. in a near range and a far range scan. Usually, a configuration is supplied with the goal of bringing the simulated sensor’s behavior as close to the real sensor as possible.

In the Radar sensor’s prim, parameters of the Radar can be set by
prepending them with <parameterType> omni:sensor:WpmDmat:<parameterName> = <value>

For example
uint omni:sensor:WpmDmat:TraceTreeDepth = 4

Sensor-Level Parameters#

To build a custom parameterization, there are some parameters that are set once for each sensor and are the same across all of the sensor’s scan patterns:

Attribute	Description	Unit	Allowed Values
WaveLengthMm	Wavelength of the Radar	mm	3.9
TraceTreeDepth	Depth of the ray tree build while traversing the scene. A bigger depth allows for realistic effects like multi bounce, while a shallower depth will increase performance		Positive integer
InstanceTimeOffsetUsec	Time offset of this Radar instance to simulate continuous firing in a group of Radars	μs	Any float
CfarMode	2D: Only range and velocity dimensions are considered for CFAR processing 4D: Range, velocity, azimuth, and elevation dimensions are considered for CFAR processing		“2D”, “4D”

Multiple Scan Configurations#

The Radar sensor supports multiple scan patterns (e.g., near range and far range scans). The OmniSensorGenericRadarWpmDmatAPI schema automatically includes one scan configuration (s001) by default. To configure additional scans, apply the OmniSensorGenericRadarWpmDmatScanCfgAPI schema with additional instance names.

The sensor automatically detects the number of scans by identifying all applied scan configuration schemas.

Single Scan Configuration:

By default, the sensor has one scan (s001):

def OmniRadar "generic_radar" (
    prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI"]
)

Multiple Scan Configurations:

To add a second scan, apply the schema with instance name s002. You can do this in two ways:

Option 1: Rely on the automatic s001 from OmniSensorGenericRadarWpmDmatAPI:

def OmniRadar "generic_radar" (
    prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI", "OmniSensorGenericRadarWpmDmatScanCfgAPI:s002"]
)

Option 2: Explicitly list both s001 and s002 (more verbose but clearer):

def OmniRadar "generic_radar" (
    prepend apiSchemas = ["OmniSensorGenericRadarWpmDmatAPI", "OmniSensorGenericRadarWpmDmatScanCfgAPI:s001", "OmniSensorGenericRadarWpmDmatScanCfgAPI:s002"]
)

Both approaches result in two scans. Explicitly listing s001 is redundant but commonly used in existing sensor definitions for clarity.

Scan Parameter Naming:

The parameters for each scan are defined using the following naming pattern:

<parameterType> omni:sensor:WpmDmat:scan:<instanceName>:<parameterName> = <value>

For example:

# First scan (s001) parameters
float omni:sensor:WpmDmat:scan:s001:raysPerDeg = 10.0
float omni:sensor:WpmDmat:scan:s001:maxRangeM = 50

# Second scan (s002) parameters
float omni:sensor:WpmDmat:scan:s002:raysPerDeg = 8.0
float omni:sensor:WpmDmat:scan:s002:maxRangeM = 300

The scan instance names (e.g., s001, s002) can be any valid identifier and are processed in lexicographic order.

General Scan Parameters#

The following parameters are provided once for each scan and influence the general behavior of a Radar sensor. RaysPerDeg influences how many rays the sensor shoots per degree and together with the parameters that determine the sensor’s field-of-view (FoV), the total number of rays is calculated. Changing this value increases fidelity but decreases performance.

Attribute	Description	Unit	Allowed Values
RaysPerDeg	Ray density. The total number of rays is depended on `MaxAzAngDeg` and `MaxElAngDeg` as well		Positive integer
TimeOffsetUsec	time offset of the scan from the frame time to simulate non-equidistant scans	μs	Any float
PowerFactor	Total output power of Radar	W	Positive float
EnAngAliasing	Enable angular aliasing		true, false
EnableRangeAliasing	Enable range aliasing		true, false
DetValFromBinIdx	If true, detection value derived from bin index; if false, more accurate inside cell		true, false
ElevMode	Elevation mode; FULL_EL:pos neg elevation POS_EL:only pos elevation NO_EL: elevation=0		“FULL_EL”, “POS_EL”, “NO_EL”
DatacubeMode	Datacube processing mode; FAST: traditional DMAT computation WAVEFORM: waveform approximation		“FAST”, “WAVEFORM”
RxAntennaAzDeg	Array of azimuth angles (in degrees) defining the antenna gain pattern grid for receiver. Active only if `RxAntennaGainMode` is `CUSTOM`	deg	Array of sorted floats
RxAntennaElDeg	Array of elevation angles (in degrees) defining the antenna gain pattern grid for receiver. Active only if `RxAntennaGainMode` is `CUSTOM`	deg	Array of sorted floats
RxAntennaCoGain	Array of co-polarization gains for receiver antenna (row-major order, size = ElSize * AzSize). Active only if `RxAntennaGainMode` is `CUSTOM`		Array of floats
RxAntennaCrossGain	Array of cross-polarization gains for receiver antenna (row-major order, size = ElSize * AzSize). Active only if `RxAntennaGainMode` is `CUSTOM`		Array of floats
TxAntennaAzDeg	Array of azimuth angles (in degrees) defining the antenna gain pattern grid for transmitter. Active only if `TxAntennaGainMode` is `CUSTOM`	deg	Array of sorted floats
TxAntennaElDeg	Array of elevation angles (in degrees) defining the antenna gain pattern grid for transmitter. Active only if `TxAntennaGainMode` is `CUSTOM`	deg	Array of sorted floats
TxAntennaCoGain	Array of co-polarization gains for transmitter antenna (row-major order, size = ElSize * AzSize). Active only if `TxAntennaGainMode` is `CUSTOM`		Array of floats
TxAntennaCrossGain	Array of cross-polarization gains for transmitter antenna (row-major order, size = ElSize * AzSize). Active only if `TxAntennaGainMode` is `CUSTOM`		Array of floats

Range and Angle Parameters#

These values are set per scan and determine the detection range of the sensor as well as the FoV. These values are usually found in a Radar sensor’s spec sheet and can easily be set to approach the behavior of a given real sensor.

Attribute	Description	Unit	Allowed Values
MaxRangeM	Maximum detection range of the scan	m	Positive float
MaxAzAngDeg	Maximum azimuth angle, FOV is 2x this value	deg	Positive float
MaxElAngDeg	Maximum elevation angle, FOV is 2x this value	deg	Positive float
RangeResM	Range resolution. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `true`	m	Positive float
VelResMps	Velocity resolution. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `true`	m/s	Positive float
BoreAzResDeg	Azimuth resolution at bore sight. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `true`	deg	Positive float
BoreElResDeg	Elevation resolution at bore sight. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `true`	deg	Positive float

Bin Parameters#

These values are set per scan as well. The number of bins that the Radar sensor uses to bin the returns can either be calculated by the sensor from the values in the previous table or explicit values can be given to the sensor. If BinsFromSpec is true, the values for RBins, VBins, AzBins and ElBins will be ignored.

Attribute	Description	Allowed Values
BinsFromSpec	Flag to determine if bins are derived from resolution parameters	true, false
RBins	Number of range bins of this scan. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `false`	Positive integer
VBins	Number of velocity bins of this scan. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `false`	Positive integer
AzBins	Number of azimuth bins of this scan. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `false`	Positive integer
ElBins	Number of elevation bins of this scan. Active only if `DatacubeMode` is `FAST` and `BinsFromSpec` is `false`	Positive integer

CFAR (Constant False Alarm Rate) Parameters#

The Cfar-parameters are set per scan. A Cfar-Implementation is used to filter all returns that the sensor received for only the ones that are targets of interest.

Attribute	Description	Allowed Values
CfarRnT	CFAR number of range test cells	Positive integer
CfarRnG	CFAR number of range guard cells	Positive integer
CfarVnT	CFAR number of velocity test cells	Positive integer
CfarVnG	CFAR number of velocity guard cells	Positive integer
CfarAznT	CFAR number of azimuth test cells. Active only if `CfarMode` is `4D`	Positive integer
CfarAznG	CFAR number of azimuth guard cells. Active only if `CfarMode` is `4D`	Positive integer
CfarElnT	CFAR number of elevation test cells. Active only if `CfarMode` is `4D`	Positive integer
CfarElnG	CFAR number of elevation guard cells. Active only if `CfarMode` is `4D`	Positive integer
CfarMinVal	CFAR minimum value for detection, cells below are discarded	Positive float
CfarOffset	Multiplied with raw CFAR noise level. Set to 1 if no scaling of noise is desired	Positive float
CfarNoiseMean	Mean noise level used in CFAR	Any float
CfarNoiseSDev	Standard deviation of noise in CFAR	Positive float

Window Parameters#

These parameters select separable window functions used for array-factor weighting and waveform processing (when DatacubeMode is “WAVEFORM”).

Note

All window parameters accept the same allowed values: "RECT", "HANN", "HAMMING", "BLACKMAN".

Attribute	Description	Allowed Values
WindowAzimuth	Window kind for azimuth/array horizontal dimension	See note above
WindowElevation	Window kind for elevation/array vertical dimension	See note above
WindowSlowTime	Window kind for slow-time (Doppler). Active only if `DatacubeMode` is `WAVEFORM`	See note above
WindowFastTime	Window kind for fast-time (range). Active only if `DatacubeMode` is `WAVEFORM`	See note above

Noise Parameters#

The noise parameters are set per scan. The Noise parameters category defines the characteristics of the noise affecting the Radar sensor’s measurements. These parameters help simulate real-world imperfections and variability in the sensor’s readings.

Attribute	Description	Unit	Allowed Values
AzimuthRadNoiseMean	Mean noise added to azimuth radial measurements	rad	Any float
AzimuthRadNoiseSDev	Standard deviation of azimuth radial noise at boresight	rad	Positive float
ElevationRadNoiseMean	Mean noise added to elevation radial measurements	rad	Any float
ElevationRadNoiseSDev	Standard deviation of elevation radial noise at boresight	rad	Positive float
VelocityNoiseMean	Mean noise added to velocity measurements	m/s	Any float
VelocityNoiseSDev	Standard deviation of noise added to velocity measurements	m/s	Positive float
RangeNoiseMean	Mean noise added to range measurements	m	Any float
RangeNoiseSDev	Standard deviation of noise added to range measurements	m	Positive float

Sequence and Coefficient Parameters#

The sequence parameters are set per scan. The RcsTuningCoefficients array is especially useful for tuning a Radar simulation to behave as similar as possible to the real Radar.

Attribute	Description	Unit	Allowed Values
MaxVelMpsSequence	An array representing the maximum unambiguous velocity sequence of the scan, expressed in meters per second. This parameter models the varying maximum velocity that the Radar can unambiguously measure over different time intervals.	m/s	Array of floats
RcsTuningCoefficients	The `RcsTuningCoefficients` are a list of parameters that influence the computation of the RCS. `RcsTuningCoefficients[0]` is a threshold value and only returns with a RCS [dBsm] > `RcsTuningCoefficients[0]` will be accepted. `RcsTuningCoefficients[1]` is a scaling parameter that’s multiplied with the RCS before it is converted to dBsm. `RcsTuningCoefficients[2]` is a scaling parameter that is multiplied with normalized noise that is added to the RCS after conversion to dBsm. A value 0 will therefore not add any noise.		Array of 3 floats
ExponentialDecayFactor	Exponential decay factor for a contribution. The higher, the faster the contribution decreases with distance. Default should be 1.0.		Positive float

Signal Processing Parameters#

These parameters control advanced signal processing when DatacubeMode is set to “WAVEFORM”. They configure the waveform of a radar frame for enhanced processing.

Note

All parameters in this section are active only when DatacubeMode is WAVEFORM.

Attribute	Description	Unit	Allowed Values
SlowTimeSamples	Slow-time number of samples		Positive integer
FastTimeSamples	Fast-time number of samples		Positive integer
AzimuthPaddingSamples	Number of zero-padding samples in azimuth		Positive integer
ElevationPaddingSamples	Number of zero-padding samples in elevation		Positive integer
SlowTimePaddingSamples	Number of zero-padding samples in slow-time		Positive integer
FastTimePaddingSamples	Number of zero-padding samples in fast-time		Positive integer
CarrierFrequency	Carrier frequency	Hz	Positive float
ChirpDuration	Chirp duration	s	Positive float
ChirpBandwidth	Chirp bandwidth	Hz	Positive float
ChirpRepetitionTime	Chirp repetition time (>= chirp duration)	s	Positive float
FrequencyStepBetweenChirps	Frequency step between chirps	Hz	Positive float
SupportFactor	Support factor in units of main lobe width (1 = one main lobe)		Positive float

Tx Element Parameters#

When provided, these parameters control the transmit element pattern and array factor used to compute the TX gain per scan. If not set, the legacy/scan-level parameters act as defaults.

Note

PATCH_ARRAY_MODEL: Models a rectangular patch microstrip antenna array. The total gain pattern is computed as Total Pattern = Array Factor × SubElement Factor, where the array factor accounts for the sub-element arrangement and spacing, and the sub-element factor models the individual patch antenna response. Configure sub-elements via array element parameters (azimuth/elevation elements and spacing). Supports beamsteering and windowing. This mode applies to both TxAntennaGainMode and RxAntennaGainMode.

Attribute	Description	Unit	Allowed Values
TxAntennaGainMode	Antenna gain profile for Tx element		“CONSTANT”,”COSINE_FALLOFF”, “CUSTOM”,”PATCH_ARRAY_MODEL”
TxArrayAzimuthElements	Number of azimuth elements (Tx array). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`		Positive integer
TxArrayElevationElements	Number of elevation elements (Tx array). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`		Positive integer
TxAzimuthElementSpacing	Azimuth element spacing (Tx). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`	m	Positive float
TxElevationElementSpacing	Elevation element spacing (Tx). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`	m	Positive float
TxWindowAzimuth	Window kind for azimuth (Tx array-factor). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`		See Window Parameters note
TxWindowElevation	Window kind for elevation (Tx array-factor). Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`		See Window Parameters note
TxAzimuthSteeringAngleDeg	Azimuth steering angle for Tx array. Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`	deg	Any float
TxElevationSteeringAngleDeg	Elevation steering angle for Tx array. Active only if `TxAntennaGainMode` is `PATCH_ARRAY_MODEL`	deg	Any float

Rx Element Parameters#

When provided, these parameters control the receive element pattern and array factor used to compute the RX gain per scan.

Note

For PATCH_ARRAY_MODEL mode, see the PATCH_ARRAY_MODEL note in Tx Element Parameters above for details on how these parameters define the antenna array pattern.

Attribute	Description	Unit	Allowed Values
RxAntennaGainMode	Antenna gain profile for Rx element		“CONSTANT”,”COSINE_FALLOFF”, “CUSTOM”,”PATCH_ARRAY_MODEL”
RxArrayAzimuthElements	Number of azimuth elements (Rx array). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`		Positive integer
RxArrayElevationElements	Number of elevation elements (Rx array). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`		Positive integer
RxAzimuthElementSpacing	Azimuth element spacing (Rx). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`	m	Positive float
RxElevationElementSpacing	Elevation element spacing (Rx). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`	m	Positive float
RxWindowAzimuth	Window kind for azimuth (Rx array-factor). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`		See Window Parameters note
RxWindowElevation	Window kind for elevation (Rx array-factor). Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`		See Window Parameters note
RxAzimuthSteeringAngleDeg	Azimuth steering angle for Rx array. Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`	deg	Any float
RxElevationSteeringAngleDeg	Elevation steering angle for Rx array. Active only if `RxAntennaGainMode` is `PATCH_ARRAY_MODEL`	deg	Any float

(Virtual) Receiving Aperture Parameters#

These parameters govern the waveform datacube dimensions and FFT/windowing independently of Tx/Rx element definitions. These are required when using DatacubeMode = “WAVEFORM” and no legacy fallbacks are applied.

Note

All parameters in this section are active only when DatacubeMode is WAVEFORM.

The virtual receiving aperture can be either a real aperture (1 Tx, N Rx) or a virtual aperture (M Tx, N Rx → virtual: 1 Tx, M×N Rx). Currently, the real Tx and Rx elements are assumed to form an L-shape configuration so that the virtual receiving antenna array forms a 2D uniform planar array (ULA).

Attribute	Description	Unit	Allowed Values
ApertureArrayAzimuthElements	Number of azimuth elements in virtual receiving aperture		Positive integer
ApertureArrayElevationElements	Number of elevation elements in virtual receiving aperture		Positive integer
ApertureAzimuthElementSpacing	Azimuth element spacing for virtual receiving aperture	m	Positive float
ApertureElevationElementSpacing	Elevation element spacing for virtual receiving aperture	m	Positive float
ApertureWindowAzimuth	Window kind for azimuth (aperture processing)		See Window Parameters note
ApertureWindowElevation	Window kind for elevation (aperture processing)		See Window Parameters note

Debug Parameters#

These parameters enable forced detection modes for development and testing purposes.

Attribute	Description	Unit	Allowed Values
DebugForceDetection	Enable forced detection mode for debugging		true, false
DebugForceRange	Forced range value. Active only if `DebugForceDetection` is `true`	m	Positive float
DebugForceV	Forced velocity value. Active only if `DebugForceDetection` is `true`	m/s	Any float
DebugForceAz	Forced azimuth value. Active only if `DebugForceDetection` is `true`	deg	Any float
DebugForceEl	Forced elevation value. Active only if `DebugForceDetection` is `true`	deg	Any float

Radar Point Cloud#

The Radar model outputs detection data as a GenericModelOutput (GMO) struct or as a PointCloud (RenderOutput) struct. The GenericModelOutput provides a unified struct containing all detection data, including coordinates, RCS, time offsets, flags, and radial velocity. It can optionally include auxiliary data controlled via the channels attribute on the GenericModelOutput RenderVar (e.g. string[] channels = ["BASIC"]). The buffer can reside on the CPU or GPU.

The GenericModelOutput provides a unified struct containing all detection data. Refer to the documentation of the Generic Model Output package for more information on GenericModelOutput.

The PointCloud format provides a flexible output structure with user-selectable channels. When using the PointCloud RenderVar, you can request specific data channels to be included in the output:

Channel Name	Data Type	Buffer Semantics	Description	Unit
Coordinates	float	2D Array	3D position of detection (per point). Coordinate system determined by `omni:sensor:Core:elementsCoordsType` (Cartesian or Spherical). Array is a 3xN packing (xxx…, yyy…, zzz…).	m, rad
RCS	float	1D Array	Radar Cross Section in dBsm (decibel square meters).	dBsm
TimeOffsetNs	int32	1D Array	Time offset in nanoseconds relative to scan start.	ns
RadialVelocityMs	float	1D Array	Radial velocity in meters per second (Doppler).	m/s
Flags	uint8	1D Array	Status flag bit field for the detection point that can represent multiple options.

Arrays are of size N, where N is the number of detections in the scan that is reported in the metadata.

Glossary#

This section defines common abbreviations used throughout this documentation:

Abbreviation	Full Term
AOV	Arbitrary Output Variable - individual data channels for sensor outputs
CFAR	Constant False Alarm Rate - algorithm for detecting targets in radar data while maintaining a constant false alarm rate
dBsm	Decibel square meters - logarithmic unit for Radar Cross Section
DMAT	Detection Matrix - discretized representation of radar returns
FoV	Field of View - the observable area covered by the sensor
GMO	GenericModelOutput - unified output format for sensor data
RCS	Radar Cross Section - measure of how detectable an object is by radar
Rx	Receiver - the receiving antenna system
Tx	Transmitter - the transmitting antenna system
USD	Universal Scene Description - file format for 3D scene representation
WPM	Wave Propagation Model - physics-based radar simulation approach