LidarPointAccumulator

Gets pointcloud and writes it to csv file

Installation

To use this Node, you must enable omni.drivesim.sensors.nv.lidar_tools in the Extension Manager.

Inputs

Name	Type	Description	Default
src	uint64	Input buffer	0
cudaStream	uint64	Cuda Stream Input	0
targetPID	uint64	Target process ID to send data stream to	0
rightHanded	bool	Right handed pc	True
sensorProfileName	string	Filename of the sensor profile - has to be the same as in lidar model
exportBytePoints	bool	Export lidar points	False
publishVizPoints	bool	Export viz points	True
sensorMount6DPose	float[]	[x,y,z,r,p,y]
colorCode	int	0 - constant, 1 - intensity, 2 - height, 3 - range, 4 - objectId, 5 - echoId, 6 - materialId	1
sendDataId	int	Send data id to distinguish point clouds on the receiver side	0

Outputs

Name	Type	Description	Default
dest	uint64	Output buffer of accumulated LidarPoints	0
numPoints	int	Output points – not used for viz points	0
newData	bool	True if new data is published	False
cudaStream	uint64	Cuda Stream Input	0