The sensor sends out point clouds as UDP packet via Ethernet. We provide driver for ROS 1 noetic and ROS2 to convert data into standard ros msg format: sensor_msgs/PointCloud2.
The data fields of pcl::PointXYZHSV:
- x, y, z: coordinates in [m]. Origin point is the center of radar.
- h: measured relative doppler velocity in [m/s].
- s: estimated RCS in [square meter] based on SNR, distance and angle. RCS, Radar cross section indicates the reflection strength from an object and can be used in a certain way for detection confidence or reliability. The value is on a linear scale [sm], not logarithmic [dBsm].
- v: moving status, [-1,0,1] = [moving towards, standing, moving away]. We do not use any external data, e.g. from IMU, but only the radar point cloud to estimate the ego velocity and to determine the point moving status.