Altos V2 Radar Driver

This project is a driver for processing point cloud data from the Altos V2 radar system. It receives radar data packets via UDP, processes the point cloud information, and saves the data to files.

.
├── altosRadarParse.cpp  # Main source code for processing radar data
├── pointCloud.h         # Data structure definitions
├── CMakeLists.txt       # CMake build configuration
├── data/                # Directory for RCS data and output files
└── README.md            # This file

• Receives radar point cloud data via UDP (both unicast and multicast supported)
• Calculates RCS (Radar Cross Section) values
• Processes point cloud data and converts from spherical to Cartesian coordinates
• Estimates relative velocities of detected objects
• Classifies points based on motion (approaching, stationary, moving away)
• Saves raw data to timestamped files

• PCL (Point Cloud Library)
• Standard C++ libraries
• Linux socket programming libraries

# Create build directory
mkdir build
cd build

# Generate build files
cmake ..

# Compile the project
make

g++ -o altosRadarParse altosRadarParse.cpp -lpcl_common -lpcl_io -lm -std=c++11

The application can be configured through several constants in altosRadarParse.cpp:

• Network settings:

  • GROUPIP: Multicast group IP address
  • GROUPPORT: Multicast port
  • LOCALIP: Local IP address
  • UNIPORT: Unicast port
  • UNIFLAG: Switch between unicast (1) and multicast (0)

• Processing parameters:

  • vrMax/vrMin: Velocity range limits
  • vStep: Velocity histogram step size
  • errThr: Error threshold for velocity estimation

1. Prepare the data directory:

   mkdir -p data

2. Ensure data/rcs.dat exists (RCS calibration data):

   touch data/rcs.dat

3. Run the application:

   ./build/altosRadarParse

The application will:

• Listen for radar data on the configured network interface
• Process incoming point cloud packets
• Save raw data to timestamped files in the data/ directory
• Output processing information to the console

The application processes point cloud data in a custom format with the following structure:

1. Packet Header (PCKHEADER)
2. System Information (SYSINFO)
3. Point Data (DETECTION array)

Each point contains range, velocity, angle, and signal strength information.

Processed data is saved in two forms:

1. Raw data files in the data/ directory with timestamps
2. Console output showing frame processing information

• The application may require root privileges to access certain network ports
• The RCS calibration file (data/rcs.dat) should contain valid calibration data for accurate RCS calculations
• Network configuration should match the radar system settings