A radar wave imaging device includes a radar transmitter unit having at least one radar transmit antenna for transmitting radar waves towards a scene and a radar receiving unit including a plurality of radar receiver members that are arranged as a two-dimensional array, for receiving reflected radar waves. The radar receiving unit includes an imaging radar optics unit for imaging at least a portion of a scene onto at least a portion of the two-dimensional array of radar receiver members. The imaging radar optics unit includes at least a first radar lens that is arranged between the radar receiver members and the scene. The radar receiver members are arranged in direct contact to a surface of the first radar lens that is facing away from the scene.