Isaac Read Lidar Beams Node

This node reads from the lidar sensor and holds data buffers for a full scan

Installation

To use this Node, you must enable omni.isaac.range_sensor in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

lidarPrim

bundle

Usd prim reference to the lidar prim

Outputs

Name

Type

Description

Default

execOut

execution

Output execution triggers when lidar sensor has completed a full scan

horizontalFov

float

Horizontal Field of View in degrees

0

verticalFov

float

Vertical Field of View in degrees

0

horizontalResolution

float

Degrees in between rays for horizontal axis

0

verticalResolution

float

Degrees in between rays for vertical axis

0

depthRange

float[2]

The min and max range for sensor to detect a hit [min, max]

[0, 0]

rotationRate

float

Rotation rate of sensor in Hz

0

linearDepthData

float[]

Buffer array containing linear depth data

[]

intensitiesData

uchar[]

Buffer array containing intensities data

[]

numRows

int

Number of rows in buffers

0

numCols

int

Number of columns in buffers

0

azimuthRange

float[2]

The azimuth range [min, max]

[0.0, 0.0]

zenithRange

float[2]

The zenith range [min, max]

[0.0, 0.0]