Isaac Compute RTX Lidar Flat Scan Node

This node reads from the an RTX Lidar sensor and holds flat scan buffers

Installation

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

Inputs

Name	Type	Description	Default
execIn	execution	The input execution port
CPU Pointer (cpuPointer)	uint64	CPU Pointer to LiDAR render result.

Outputs

Name	Type	Description	Default
execOut	execution	Output execution triggers when lidar sensor has data
horizontalFov	float	Horizontal Field of View in degrees	0
horizontalResolution	float	Degrees in between rays for horizontal 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]