Isaac Compute RTX Lidar Point Cloud Node

This node reads from the an RTX Lidar sensor and holds point cloud data 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.
Keep Only Positive Distance (keepOnlyPositiveDistance)	bool	Keep points only if the return distance is > 0	True
Error Azimuth (accuracyErrorAzimuthDeg)	float	Accuracy error of azimuth in degrees applied to all points equally
Error Elevation (accuracyErrorElevationDeg)	float	Accuracy error of elevation in degrees applied to all points equally
Error Position (accuracyErrorPosition)	float[3]	Position offset applied to all points equally
renderProductPath	token	Path of the renderProduct to wait for being rendered

Outputs

Name	Type	Description	Default
execOut	execution	Output execution triggers when lidar sensor has data
toWorldMatrix	matrixd[4]	The transform matrix from lidar to world coordinates
Point Cloud Data (pointCloudData)	pointf[3][]	Buffer of 3d points containing point cloud data in Lidar coordinates	[]
intensity	float[]	intensity [0,1]	[]
range	float[]	range in m	[]
azimuth	float[]	azimuth in rad [-pi,pi]	[]
elevation	float[]	elevation in rad [-pi/2, pi/2]	[]