interpreting-radar-pointclouds

name	interpreting-radar-pointclouds
description	Interpreting already-read radar PointCloud tensors: channel meanings, units, valid detection ranges, RCS, signed radial velocity, time offsets, flags, counts, and visualization values. Use reading-sensor-pointclouds when the user needs to map or fetch the tensors first.
license	LicenseRef-NvidiaProprietary
version	0.3.0
author	NVIDIA ovrtx
tags	["ovrtx","radar","pointclouds"]
tools	["Read","Grep"]

Interpreting Radar PointClouds

When to Use

Use this skill when the user asks what already-read radar Coordinates, RCS, RadialVelocityMs, TimeOffsetNs, Flags, or Counts tensors mean. Use reading-sensor-pointclouds instead when the user needs map/read code to obtain the tensors.

Inputs

Resolve inputs in this order: existing repository files and referenced snippets, explicit user request, then broader agent context.

• Radar channel names and tensor values or summaries already available to the caller.
• Authored radar settings that affect interpretation, especially coordinate representation, output frame, scan timing, and requested output channels.
• Validity context: Counts, Flags, desired RCS or RadialVelocityMs filtering, and visualization needs.
• Repository source snippets referenced below. Treat these snippets as the API source of truth.

Prerequisites

• Use an ovrtx checkout that contains the referenced examples and docs tests.
• Read the relevant > **Source:** snippet before writing or explaining API usage.
• Start from tensors the caller has already read, or a conceptual question about channel meaning. Use reading-sensor-pointclouds if the user needs code to access the tensors.
• Use configuring-radar-sensors when the requested channel is missing because it was not authored in the radar PointCloud RenderVar.

Instructions

1. Identify the radar channels being interpreted and the settings that define their coordinate frame, scan timing, and validity behavior.
2. Read the matching interpretation source snippet before explaining channel behavior or visualization choices.
3. Use Counts[0] for tensor bounds and Flags bit tests for per-detection validity before summarizing RCS, RadialVelocityMs, or timing channels.
4. Treat RadialVelocityMs as signed Doppler velocity and explain sign conventions explicitly.
5. Explain channel meaning without adding mapping boilerplate unless the user also asks how to read the tensors.
6. When changing code, run the narrow docs test or example that owns the snippet whenever practical.

Output Format

• For explanations, cite the relevant API names, source snippets, and caveats.
• For code changes, summarize the files changed, snippets affected, and validation run.

Scripts

This skill has no scripts.

Limitations

• The referenced snippets remain the source of truth; update or add tested snippets before documenting new API usage.

Overview

Radar PointCloud output is a composite render var with one tensor per detection channel. Use Counts[0] to bound the delivered detections before interpreting Coordinates, RCS, RadialVelocityMs, TimeOffsetNs, or Flags, and use the Flags VALID bit for per-detection validity.

Source: examples/python/radar/main.py snippet read-radar-pointcloud Source: examples/c/radar/main.cpp snippet read-radar-pointcloud

The radar examples demonstrate the usual interpretation path: slice to valid detections, summarize channel values, and treat radial velocity sign deliberately.

Channels

These are the available radar PointCloud channels from omni.sensors.nv.radar.

Channel	Type / Shape	Unit	Meaning
Counts	int32 scalar	detections	Model-delivered detection count; use it to bound every per-detection tensor.
Coordinates	float 2D, 3 x N	m, rad	Detection coordinates. Representation is controlled by the radar coordinate type: Cartesian positions or spherical range/angle components. Frame is controlled by the configured output frame.
RCS	float 1D, N	dBsm	Radar cross section, a logarithmic measure of how detectable the target is to radar. value range depends on attributes
TimeOffsetNs	int32 1D, N	ns	Per-detection time offset relative to scan start.
RadialVelocityMs	float 1D, N	m/s	Doppler radial velocity. Approaching detections can be negative; use absolute value when checking only for motion. value range depends on attributes
Flags	uint8 1D, N	unitless	Model-delivered detection status flag bit field. VALID (1 << 6, 0x40) marks a valid detection.

The model auto-enables Counts and Flags, and they are delivered as ordinary PointCloud channel tensors. RCS, RadialVelocityMs, and TimeOffsetNs are present only when requested.

Validity

Within the first Counts[0] entries, a detection is valid when (Flags[i] & VALID) != 0. A detection is invalid when that bit is clear. Use a bit test instead of Flags[i] == VALID so future modality-specific flag bits do not break the filter.

Use Counts for tensor bounds and Flags for per-detection validity. Status-aware consumers should ignore invalid detections before summarizing RCS, RadialVelocityMs, or timing channels.

Interpretation Notes

• Coordinates can be Cartesian or spherical. Check the authored coordinate type before treating components as XYZ.
• RCS is in dBsm. Min/max summaries are often more useful than printing a single value because detections can span materials, geometry, and noise.
• RadialVelocityMs is signed Doppler velocity. In the public radar example, the cube moving toward the sensor produces negative values.
• TimeOffsetNs lets consumers reason about detection timing within a scan, especially when combining radar output with motion.
• Flags should be used when an application needs status-aware filtering. Counts still defines the delivered tensor range.

Visualization

Source: examples/python/radar/main.py snippet radial-velocity-colors Source: examples/python/radar/main.py snippet log-radar-points

Coloring by signed RadialVelocityMs is a useful default: one color for approaching detections, another for receding detections, and a neutral color near zero. Color by RCS when the goal is material or detectability inspection.

Related Skills

• reading-sensor-pointclouds for mapping and slicing composite PointCloud tensors.
• configuring-radar-sensors for authoring radar output channels.
• nonvisual-materials for material labels that influence radar return behavior.

Troubleshooting

• If source snippets do not cover the requested variant, add or update a focused docs test or example before documenting the new pattern.
• If behavior differs between Python and C/C++, prefer the language-specific snippet and call out the difference explicitly.

References

• Use the > **Source:** directives in this skill to locate tested snippets before reusing API patterns.
• Keep related skills, docs, and snippets synchronized when changing the workflow.