Isaac Compute RTX Radar Point Cloud Node

This node reads from the an RTX Radar 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 Radar render result.

transform

matrixd[4]

The matrix to transform the points by

Outputs

Name

Type

Description

Default

execOut

execution

Output execution triggers when Radar sensor has data

transform

matrixd[4]

The input matrix transformed from Radar to World

syncData

uint64

Pointer to SyncData Sync primitives for syncing with model

sensorID

uchar

Sensor Id for sensor that generated the scan

scanIdx

uchar

Scan index for sensors with multi scan support

timeStampNS

uint64

Scan timestamp in nanoseconds

cycleCnt

uint64

Scan cycle count

maxRangeM

float

The max unambiguous range for the scan

minVelMps

float

The min unambiguous velocity for the scan

maxVelMps

float

The max unambiguous velocity for the scan

minAzRad

float

The min unambiguous azimuth for the scan

maxAzRad

float

The max unambiguous azimuth for the scan

minElRad

float

The min unambiguous elevation for the scan

maxElRad

float

The max unambiguous elevation for the scan

numDetections

uint

The number of valid detections in the array

Point Cloud Data (pointCloudData)

pointf[3][]

Buffer of 3d points containing point cloud data in Radar coordinates

[]

radialDistance

float[]

Radial distance (m)

[]

radialVelocity

float[]

Radial velocity (m/s)

[]

azimuth

float[]

Azimuth angle (radians)

[]

elevation

float[]

Angle of elevation (radians)

[]

rcs

float[]

Radar cross section in decibels referenced to a square meter (dBsm)

[]

semanticId

uint[]

semantic ID

[]

materialId

uint[]

material ID

[]

objectId

uint[]

object ID

[]