The RAS radar family’s CFAR “PointCloud” data output is provided as a UDP network stream.
The linux command line application at the download link below allows this UDP output stream to be logged directly to a CSV file for subsequent analysis or processing. As well as logging the range and bearing of each point within the point cloud, the tool logs the magnitude of the radar response, and precise timestamp information.
Alongside the CSV data file containing the data provided over the UDP connection, this tool establishes a TCP/IP connection with the radar to read back the current radar serial number and configuration, storing these in a text file.
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If a radar has the SafeGuard user interface enabled, then the (Window-size), (Threshold value), (Start bin) and (Max points per azimuth) parameters can be configured via the radar’s web interface. |
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To use the recording tool within the Windows Subsystem for Linux environment (WSL), it is necessary to route UDP packets from Windows through to WSL. Instructions are at the bottom of this page. |
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Point-cloud Writer
The pointcloud_writer application records navigation point-cloud output from a radar and writes it to a file as comma-separated variables (CSV).
The application also retrieves the radar and navigation configuration and stores it in a name-associated file.
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20231123_153106_school_rd.csv |
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Running in Windows Subsystem for Linux
to route UDP packets from Windows to wsl ou'll also need WSL, the sudppipe utility , is used
Comand line:
Windows command line syntax for the use of sudppipe is as shown below:
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sudppipe.exe -b <Windows IP> <WSL IP> <WSL port> <Windows |
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port> |
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<WSL IP> can be retreived by entering
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for example, if <WSL IP> is reported as 172.20.71.120:
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sudppipe.exe -b |
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192.168.0.2 |
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172.20.71.120 6320 6317 |
When you With sudpipe running as shown above, start up the pointcloud_writer within the WSL environment, set pointing the UDP connection to <WSL IP> and port to 6320, (not 6317).
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./pointcloud_writer -i 192.168.0.1 -p 6317 -u 172.20.71.120 -d 6320 |