- \n
- \u6444\u50cf\u5934\u4f9d\u8d56\u5149\u7ebf\uff0c\u5728\u591c\u91cc+\u5927\u96fe\u7b49\u80fd\u89c1\u5ea6\u4f4e\u7684\u573a\u666f\u4e0b\uff0c\u56fe\u50cf\u53ef\u80fd\u6a21\u7cca\u3001\u5bf9\u6bd4\u5dee\u3001\u7ec6\u8282\u7f3a\u5931\uff1b<\/span><\/li>\n
- \u6fc0\u5149\u96f7\u8fbe\u4e5f\u53ef\u80fd\u53d7\u5230\u96fe\u3001\u96e8\u3001\u96ea\u3001\u6c34\u6ef4\u3001\u96ea\u82b1\u3001\u7c89\u5c18\u7b49\u6563\u5c04\u3001\u53cd\u5c04\u3001\u5438\u6536\u7684\u5f71\u54cd\uff0c<\/span>\u5bfc\u81f4<\/span>\u70b9\u4e91\u8d28\u91cf\u4e0b\u964d\u3002<\/span><\/li>\n<\/ul>\n
\u56e0\u6b64<\/span>\u4f20\u7edf\u4ee5\u89c6\u89c9<\/span>(\u6444\u50cf\u5934)+\u6fc0\u5149\u96f7\u8fbe\u4e3a\u4e3b\u7684\u611f\u77e5\u65b9\u6848\uff0c\u6709\u5176\u5c40\u9650\u6027\u3002<\/span><\/p>\n
\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6beb\u7c73\u6ce2\u96f7\u8fbe\u7684\u6ce2\u957f\u66f4\u957f<\/span>\uff0c\u5bf9\u96e8\u3001\u96fe\u3001\u7070\u5c18\u3001\u6c34\u6ef4\u7b49\u7684\u7a7f\u900f\u6027\u8f83\u5f3a<\/span>\uff0c\u4e0d\u5bb9\u6613\u53d7\u5230\u5149\u7167\u548c\u80fd\u89c1\u5ea6\u7684\u5f71\u54cd\u3002\u5c24\u5176\u662f<\/span>4D\u6beb\u7c73\u6ce2\u96f7\u8fbe\uff0c\u5373\u4fbf\u5728\u96fe\u3001\u591c\u7b49\u4f4e\u80fd\u89c1\u5ea6\u6761\u4ef6\u4e0b\uff0c\u4ecd\u80fd\u6709\u6548\u63a2\u6d4b\u5468\u56f4\u7269\u4f53\uff0c\u5e76\u4e14\u5177\u5907\u4e86\u7c7b\u4f3c\u6fc0\u5149\u96f7\u8fbe\u7684\u7acb\u4f53\uff083D+\u9ad8\u5ea6\uff09\u611f\u77e5\u80fd\u529b\uff0c\u56e0\u6b64\u88ab\u89c6\u4e3a\u4e00\u79cd\u201c\u5168\u5929\u5019\/\u5168\u65f6\u6bb5<\/span>\u201d<\/span>\u7684<\/span>\u611f\u77e5\u4f20\u611f\u5668\u3002<\/span><\/p>\n
2. 4D Radar\u7684\u5c40\u9650\u6027<\/h4>\n
2.1 <\/span>\u70b9\u4e91\u7a00\u758f<\/span>&\u5206\u8fa8\u7387\/\u7ec6\u8282\u6709\u9650<\/span><\/h6>\n
\u5373\u4fbf\u662f<\/span>4D<\/span>\u6beb\u7c73\u6ce2<\/span>\u96f7\u8fbe\uff0c\u5176\u70b9\u4e91\u6570\u91cf<\/span><\/span>\/\u5bc6\u5ea6\/\u5206\u8fa8\u7387<\/span>\u4e0e\u9ad8\u7ebf\u675f\u3001\u9ad8\u5206\u8fa8\u7387\u7684<\/span>\u6fc0\u5149\u96f7\u8fbe<\/span>\u76f8\u6bd4\uff0c\u4ecd\u7136\u6709<\/span>\u4e00\u5b9a<\/span>\u5dee\u8ddd\u3002<\/span>\u50cf\u662f\u5728<\/span>\u591a\u8f66\u5e76\u9053\u3001\u5c0f\u8f66\u8ddd\u79bb\u5f88\u8fd1\u3001\u969c\u788d\u7269\u5f62\u6001\u590d\u6742<\/span>(\u680f\u6746\u3001\u8def\u7f18\u3001\u4ea4\u901a\u9525\u3001\u884c\u4eba\u3001\u5c0f\u578b\u7535\u52a8\u8f66\u2026)<\/span>\u7b49<\/span>\u590d\u6742\u573a\u666f<\/span>\uff0c<\/span>4D\u6beb\u7c73\u6ce2<\/span>\u96f7\u8fbe\u53ef\u80fd\u53ea\u80fd\u68c0\u6d4b\u5230\u4e00\u4e2a<\/span>\u201c\u70b9\u201d\u6216\u5f88\u5c11\u51e0\u4e2a\u53cd\u5c04\u70b9\uff0c\u96be\u4ee5\u51c6\u786e\u5224\u65ad\u7269\u4f53\u7684\u5f62\u72b6\u3001\u8fb9\u754c\u3001\u5c3a\u5bf8\u3001\u7c7b\u522b(\u662f\u8f66\u3001\u4eba\u3001\u680f\u6746\u8fd8\u662f\u6811?)<\/span>\u3002<\/span><\/p>\n
2.2 <\/span>\u70b9\u4e91<\/span>\u201c\u566a\u58f0+\u7a00\u758f+\u4e0d\u786e\u5b9a\u6027\u201d\u95ee\u9898<\/span><\/h6>\n
\u96f7\u8fbe\u6ce2\u53cd\u5c04\u53ef\u80fd\u56e0\u5730\u9762\u3001\u6e7f\u5ea6\u3001\u6c34\u6ef4\u3001\u96fe\u6ef4\u3001\u5efa\u7b51\u53cd\u5c04\u3001\u5730\u9762\u94fa\u88c5\u3001\u5176\u4ed6\u8f66\u8f86\u91d1\u5c5e\u7ed3\u6784\u3001\u96e8\u96ea\u3001\u73af\u5883\u6742\u6563\u6ce2\u5e72\u6270\u7b49\u4ea7\u751f\u566a\u58f0<\/span><\/span>\uff0c<\/span>\u800c<\/span>4D<\/span>\u6beb\u7c73\u6ce2<\/span>\u96f7\u8fbe\u70b9\u4e91\u672c\u6765\u5c31\u6bd4<\/span>\u6fc0\u5149\u96f7\u8fbe<\/span>\u7a00\u758f\uff0c<\/span>\u5f53<\/span>\u9047\u5230\u590d\u6742<\/span>\/\u9759\u6001\/\u4f4e\u53cd\u5c04\u76ee\u6807<\/span>(\u6bd4\u5982\u9ed1\u8272\u7269\u4f53<\/span>\u3001\u7a7a\u6c14\u4e2d\u8f7b\u5fae\u96fe\u6ef4\u3001\u900f\u660e\u7269\u4f53\u2026)\u65f6\u53ef\u80fd\u6839\u672c\u6ca1\u6709\u56de\u6ce2\u6216\u56de\u6ce2\u592a\u5f31\u3002\u8fd9\u6837\u7684\u4e0d\u786e\u5b9a\u6027\u4f7f\u5f97\u4ec5\u97604D<\/span>\u6beb\u7c73\u6ce2<\/span>\u96f7\u8fbe\u5224\u65ad<\/span>\u8def\u51b5\u663e\u5f97<\/span>\u4e0d\u591f\u53ef\u9760\u3002<\/span><\/p>\n
4D radar\u5728\u4f4e\u901f\u573a\u666f\u53ef\u7ed3\u5408\u6444\u50cf\u5934\u8fdb\u884c\u611f\u77e5\uff0c\u5728\u9ad8\u901f\u573a\u666f\u53ef\u8f85\u52a9\u6fc0\u5149\u96f7\u8fbe\u63a2\u6d4b\u906e\u6321\u969c\u788d\u7269\u3001\u7a7f\u900f\u96fe\u3001\u96ea\u7b49\u573a\u666f\u3002<\/p>\n
3. SFR-2K\u6280\u672f\u53c2\u6570<\/h4>\n
\u672c\u6587\u4ee5\u8d5b\u6069\u9886\u52a8SFR-2K\u4e3a\u4f8b\uff0c\u8fdb\u884c\u6280\u672f\u9a8c\u8bc1\u3002\u8d5b\u6069\u9886\u52a8\u76844D radar\u662f\u4e00\u6b3e\u8f66\u89c4\u7ea7\u6210\u50cf\u96f7\u8fbe\uff0c\u62e5\u6709120\u00b0\u6c34\u5e73\u89c6\u573a\u89d2\uff0c\u6700\u957f\u63a2\u6d4b\u8ddd\u79bb300m\uff0c\u53ef\u4ee5\u5168\u5929\u5019\u5168\u5de5\u51b5\u63d0\u4f9b\u63a2\u6d4b\u7269\u4f53\u7684\u8ddd\u79bb\u3001\u901f\u5ea6\u3001\u89d2\u5ea6\u4ee5\u53ca\u9ad8\u5ea6\u7b49\u4fe1\u606f\u3002<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sfr-2k-1024x751.jpeg\")
<\/a><\/p>\n\u5177\u4f53\u6280\u672f\u53c2\u6570\u5982\u4e0b\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-param-1024x505.png\")
<\/a><\/p>\n\u89c6\u89c9\u906e\u6321\u533a\u57df\u7684\u969c\u788d\u7269\u63a2\u6d4b\u80fd\u529b\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/d3209a9e23eb1af4b7a7bde0a588aeeb-1024x576.png\")
<\/a><\/p>\n<\/div>\n\u4e8c\u3001\u51c6\u5907\u5de5\u4f5c<\/h1>\n
1. \u96f7\u8fbe\u8fde\u7ebf<\/h4>\n
\u7ea2\u9ed1\u7ebf\u63a512V\u4f9b\u7535\uff0c\u9ec4\u7effCAN\u7ebf\u4e0d\u7528\u63a5\uff0c\u7f51\u7edc\u7ebf\u8fd9\u91cc\u901a\u8fc7\u8f6c\u6362\u76d2\u5b50\u8f6c\u4e3a\u7f51\u53e3\u63a5PC\u3002<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sir-v2-link-1024x904.jpeg\")
<\/a><\/p>\n2. \u7f51\u7edc\u914d\u7f6e<\/h4>\n
SINPRO-SFR-2K\u51fa\u5382\u9ed8\u8ba4IP\u4e3a192.168.3.10\uff0c\u6211\u4eec\u8fd9\u91cc\u628a\u672c\u673a\u53ca\u7f51\u5173\u914d\u7f6e\u5230192.168.3\u7f51\u6bb5\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sfr-2k-network.png\")
<\/a><\/p>\n\u7f51\u7edc\u914d\u7f6e\u5b8c\u6bd5\u540e\u53ef\u4ee5ping\u901a4d radar\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sfr-2k-ping-1024x679.png\")
<\/a><\/p>\ntcpdump\u6293\u5305\uff0c\u53ef\u4ee5\u770b\u52304d radar\u5728\u5e7f\u64ad\u6570\u636e\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sfr-2k-tcpdump-1024x679.png\")
<\/a><\/p>\n\u4e09\u3001\u96f7\u8fbe\u8c03\u8bd5<\/h1>\n
1. SFR-2K\u901a\u4fe1\u534f\u8bae<\/h4>\n
\u8d5b\u6069\u9886\u52a8\u5b98\u65b9\u6ca1\u6709\u63d0\u4f9bdriver\u548cdemo\u7a0b\u5e8f\uff0c\u53ea\u6709\u901a\u4fe1\u62a5\u6587\u534f\u8bae\u5b9a\u4e49\u3002<\/p>\n
SFR-2K\u7684\u5bf9\u5916\u62a5\u6587\u5171\u67096\u79cd\u7c7b\u578b\uff1a1\u70b9\u4e91\u30012\u76ee\u6807\u30013\u969c\u788d\u7269\u30014\u7cfb\u7edf\u4fe1\u606f\u30017\u65e5\u5fd7\u30018Dump\uff0c\u4e3b\u8981\u4f7f\u7528\u524d4\u79cd\u3002<\/p>\n
\u4f20\u8f93\u534f\u8bae\u4f7f\u7528UDP\uff0c\u62a5\u6587\u593448bytes\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sfr-2k-header.png\")
<\/a><\/p>\nPayload\u6839\u636e\u62a5\u6587\u7c7b\u578b\u533a\u5206\uff0c\u6709\u4e0d\u540c\u7684\u5305\u5927\u5c0f\u548c\u89e3\u6790\u534f\u8bae\uff1a<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sfr-2k-udp-header.png\")
<\/a><\/p>\n\u96f7\u8fbe\u62a5\u6587\u53d1\u9001\u5468\u671f15hz\uff0c\u9ed8\u8ba4\u53d1\u5305\u987a\u5e8f\u5982\u4e0b\uff1a\uff08\u53ef\u80fd\u4f1a\u4e22\u5305\u3001\u4e71\u5e8f\uff09<\/p>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sfr-2k-pkg.png\")
<\/a><\/p>\n2. \u9a71\u52a8\u7f16\u5199<\/h4>\n
\u6211\u4eec\u8fd9\u91cc\u6839\u636e\u534f\u8bae\u5b9a\u4e49\u7f16\u5199driver\uff0c\u5e76\u5c06\u70b9\u4e91\u8f93\u51fa\u5230topic\uff0c\u4ee5\u7528\u4e8e\u53ef\u89c6\u5316\u3002<\/p>\n
\u901a\u4fe1\uff1a\u63a5\u6536radar\u7684udp\u7ec4\u64ad\u6570\u636e<\/p>\n
bool RadarDriver\uff1a\uff1aconnect() {\r\n int _socket_recv = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);\r\n if (_socket_recv < 0) {\r\n std::cout << \" [SOCKET] Init send socket failed\" << std::endl;\r\n return false;\r\n }\r\n int reuse_mode = 1;\r\n if (setsockopt(_socket_recv, SOL_SOCKET, SO_REUSEPORT, &reuse_mode, sizeof(reuse_mode))) {\r\n std::cout << \" [SOCKET] set REUSEPORT failed.\" << std::endl;\r\n close(_socket_recv);\r\n return false;\r\n }\r\n\r\n sockaddr_in dst_addr; \/\/ radar information\r\n memset(&dst_addr, 0, sizeof(dst_addr));\r\n dst_addr.sin_family = AF_INET;\r\n dst_addr.sin_addr.s_addr = inet_addr(\"192.168.3.10\");\r\n dst_addr.sin_port = htons(11011);\r\n\r\n sockaddr_in local_addr; \/\/ driver information\r\n memset(&local_addr, 0, sizeof(local_addr));\r\n local_addr.sin_family = AF_INET;\r\n local_addr.sin_addr.s_addr = INADDR_ANY<\/span>; \/\/ inet_addr(\"192.168.3.100\");\r\n local_addr.sin_port = htons(11011<\/span>);\r\n \/\/ send\r\n if (bind(_socket_recv, (struct sockaddr *)&local_addr, sizeof(local_addr)) < 0) {\r\n std::cout << \" [SOCKET] bind local address error\" << std::endl;\r\n return false;\r\n }\r\n \/\/ add multicast group\r\n struct ip_mreq multicast_group;\r\n multicast_group.imr_multiaddr.s_addr = inet_addr(\"239.168.3.1<\/span>\"); \/\/ \u7ec4\u64adip\r\n multicast_group.imr_interface.s_addr = htonl(INADDR_ANY<\/span>); \/\/ inet_addr(\"192.168.3.100\"); \/\/ \u672c\u673aip\r\n\r\n if (setsockopt(_socket_recv, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *)&multicast_group, sizeof(multicast_group)) < 0) {\r\n std::cout << \" [SOCKET] Adding multicast group failed, error: \" << strerror(errno) << std::endl;\r\n close(_socket_recv);\r\n return false;\r\n }\r\n std::cout << \" [SOCKET] init recv socket successfully\" << std::endl;\r\n}\r\nbool RadarDriver\uff1a\uff1arecive() {\r\n \/\/ \u63a5\u6536\u5e76\u6253\u5370\u6570\u636e\r\n struct sockaddr_in multicastAddr;\r\n char buffer[65536];\r\n while (true)\r\n {\r\n socklen_t addrLen = sizeof(multicastAddr);\r\n ssize_t recvLen = recvfrom(_socket_recv, buffer, sizeof(buffer), 0 , (struct sockaddr *)&multicastAddr, &addrLen);\r\n if (recvLen < 0){\r\n std::cout << \" [SOCKET] recvfrom failed\" << std::endl;\r\n return false;\r\n }\r\n\r\n buffer[recvLen] = '\\0';\r\n std::cout << \" [SOCKET] Receive multicast message: \" << buffer << std::endl;\r\n }\r\n\r\n return true;\r\n}<\/code><\/pre>\n\u89e3\u6790\uff1a\u53c2\u8003\u534f\u8bae\u89e3\u6790udp\u5305header\uff0c\u7136\u540e\u76f4\u63a5memcpy\u5230\u5bf9\u5e94\u7ed3\u6784\u4f53\u5373\u53ef\uff0c\u8fd9\u91cc\u4e0d\u518d\u8d58\u8ff0\u3002<\/p>\n
\u4e3b\u7a0b\u5e8f\uff1a\u63a5\u6536\u5e76\u53d1\u9001\u70b9\u4e91topic<\/p>\n
int main(int argc, char **argv) {\r\n ros::init(argc, argv, \"sinpro_sfr_2k-node\");\r\n ros::NodeHandle nh;\r\n ros::Publisher pub = nh.advertise<sensor_msgs::PointCloud2>(\"\/sensor\/sinpro_sfr_2k\/points\", 1);\r\n\r\n \/\/ init radar udp multicast\r\n std::shared_ptr<RadarDriver> _driver;\r\n if (!_driver->init()) {\r\n std::cout << \" [INIT] RadarDriver Init Failed\" << std::endl;\r\n return;\r\n }\r\n std::cout << \" [INIT] RadarDriver Init Success. Port: \" << _driver->get_port() << std::endl;\r\n\r\n \/\/ start recive data\r\n while (ros::ok()) {\r\n if (!_driver->receive()) {\r\n std::cout << \" not recive data!\" << std::endl;\r\n continue;\r\n }\r\n\r\n if (_driver->get_data()->pointcloud_size() > 0) {\r\n std::cout << \"[DATA] recive pointcloud size \" << _driver->get_data()->pointcloud_size() << \" recive object_num \" << object_num << \" recive obstacle_num \" << obstacle_num << std::endl;\r\n\r\n \/\/ \u8f93\u51fa\u70b9\u4e91\u5230topic\r\n pcl::PointCloud<pcl::PointXYZ> cloud;\r\n for (int i = 0; i < _driver->get_data()->pointcloud_size(); ++i) {\r\n auto point = _driver->get_data()->pointcloud(i);\r\n if (point.rng_m() < 0 || point.rng_m() > 300){\r\n std::cout << \" point rng_m out rang: \" << point.rng_m() << std::endl;\r\n continue;\r\n }\r\n \/\/ 4D\u6beb\u7c73\u6ce2\u5f84\u5411\u8ddd\u79bb\u3001\u65b9\u4f4d\u89d2\u3001\u4fef\u4ef0\u89d2\uff0c\u8f6c\u6362\u4e3aros\u70b9\u4e91x,y,z\u5750\u6807\r\n float x = point.rng_m() * cos(point.ele_rad()) * cos(point.azi_rad());\r\n float y = point.rng_m() * cos(point.ele_rad()) * sin(point.azi_rad());\r\n float z = point.rng_m() * sin(point.ele_rad());<\/span>\r\n cloud.points.push_back(pcl::PointXYZ(x, y, z));\r\n }\r\n sensor_msgs::PointCloud2 msg;\r\n pcl::toROSMsg(cloud, msg);\r\n msg.header.stamp = ros::Time::now();\r\n msg.header.frame_id = \"base_link\";\r\n pub.publish(msg);\r\n }\r\n }\r\n _driver->close();\r\n\r\n ros::AsyncSpinner spinner(1);\r\n spinner.start();\r\n ros::waitForShutdown();\r\n}<\/code><\/pre>\n3. \u70b9\u4e91\u53ef\u89c6\u5316<\/h4>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/4dradar-points.png\")
<\/a><\/p>\n![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-points.png\")
<\/a> ![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-points-2.png\")
<\/a><\/p>\n\u8fd9\u91cc\u4ece\u4fef\u89c6\u56fe\u53ef\u4ee5\u770b\u5230\u70b9\u4e91\u5bc6\u5ea6\u8fd8\u662f\u5f88\u7a00\u758f\u7684\uff0c3D\u7acb\u4f53\u56fe\u4e0a\u770b\u70b9\u4e91\u66f4\u52a0\u7a00\u758f\uff0c\u8ddf16\u7ebf\u7684\u6fc0\u5149\u96f7\u8fbe\u8fd8\u662f\u5b8c\u5168\u6ca1\u6cd5\u6bd4\u7684\u3002<\/p>\n
\u7ed3\u8bba\uff1a\u4f5c\u4e3a\u4e3b\u4f20\u611f\u5668\u63a2\u6d4b\u4fe1\u606f\u4e0d\u591f\uff0c\u4f5c\u4e3a\u8f85\u52a9\u4f20\u611f\u5668\u662f\u53ef\u884c\u7684\u3002<\/p>\n
<\/p>\n
yan 25.12.11<\/p>\n
<\/p>\n
\u53c2\u8003\uff1a<\/p>\n
- \u6fc0\u5149\u96f7\u8fbe\u4e5f\u53ef\u80fd\u53d7\u5230\u96fe\u3001\u96e8\u3001\u96ea\u3001\u6c34\u6ef4\u3001\u96ea\u82b1\u3001\u7c89\u5c18\u7b49\u6563\u5c04\u3001\u53cd\u5c04\u3001\u5438\u6536\u7684\u5f71\u54cd\uff0c<\/span>\u5bfc\u81f4<\/span>\u70b9\u4e91\u8d28\u91cf\u4e0b\u964d\u3002<\/span><\/li>\n<\/ul>\n
![\"\"](\"http:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2025\/12\/sinpro-sfr-2k.jpeg\")
<\/a><\/p>\n