Isaac Depth to Point Cloud

Converts a 32FC1 image buffer into Point Cloud data

Installation

To use this node enable omni.isaac.core_nodes in the Extension Manager.

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	`uint`	Size (in bytes) of the buffer (0 if the input is a texture)	0
Cuda Device Index (inputs:cudaDeviceIndex)	`int`	Index of the device where the data lives (-1 for host data)	-1
Data Ptr (inputs:dataPtr)	`uint64`	Pointer to the raw rgba array data	0
Exec In (inputs:execIn)	`execution`	The input execution port	None
Focal Length (inputs:focalLength)	`float`	focal length	0.0
Format (inputs:format)	`uint64`	Format	33
Height (inputs:height)	`uint`	Buffer array height, same as input	0
Horizontal Aperture (inputs:horizontalAperture)	`float`	horizontal aperture	0.0
Vertical Aperture (inputs:verticalAperture)	`float`	vertical aperture	0.0
Width (inputs:width)	`uint`	Buffer array width, same as input	0

Name	Type	Descripton	Default
Buffer Size (outputs:bufferSize)	`uint`	Size (in bytes) of the buffer (0 if the input is a texture)	None
Cuda Device Index (outputs:cudaDeviceIndex)	`int`	Index of the device where the data lives (-1 for host data)	-1
Data Ptr (outputs:dataPtr)	`uint64`	Pointer to the rgb buffer data	0
Exec Out (outputs:execOut)	`execution`	Output execution triggers when lidar sensor has completed a full scan	None
Height (outputs:height)	`uint`	Height of point cloud buffer, will always return 1	1
Width (outputs:width)	`uint`	number of points in point cloud buffer	0

Name	Value
Unique ID	omni.isaac.core_nodes.IsaacConvertDepthToPointCloud
Version	1
Extension	omni.isaac.core_nodes
Icon	ogn/icons/omni.isaac.core_nodes.IsaacConvertDepthToPointCloud.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Depth to Point Cloud
Categories	isaacCore
Generated Class Name	OgnIsaacConvertDepthToPointCloudDatabase
Python Module	omni.isaac.core_nodes