Isaac Read RTX Lidar Point Data

This node reads the data straight from the an RTX Lidar sensor.

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

Outputs

Name	Type	Description	Default
execOut	execution	Output execution triggers when lidar sensor has data
intensity	float[]	intensity [0,1]	[]
distance	float[]	distance in m	[]
azimuth	float[]	azimuth in rad [-pi,pi]	[]
elevation	float[]	elevation in rad [-pi/2, pi/2]	[]
velocityMs	pointf[3][]	velocity at hit point in sensor coordinates [m/s]	[]
echoId	uint[]	echo id in ascending order	[]
emitterId	uint[]	beam/laser detector id	[]
beamId	uint[]	beam/laser detector id	[]
materialId	uint[]	hit point material id	[]
hitPointNormal	pointf[3][]	hit point Normal	[]
tick	uint[]	tick of point	[]
objectId	uint64[]	hit point object id	[]
timeStampNs	uint64[]	absolute timeStamp in nano seconds	[]