Isaac Read Lidar Beams Node
This node reads from the lidar sensor and holds data buffers for a full scan
Installation
To use this node enable omni.isaac.range_sensor in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Lidar Prim (inputs:lidarPrim) |
|
Usd prim reference to the lidar prim |
None |
Outputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Azimuth Range (outputs:azimuthRange) |
|
The azimuth range [min, max] |
[0.0, 0.0] |
Beam Time Data (outputs:beamTimeData) |
|
Buffer array containing beam time data |
[] |
Depth Range (outputs:depthRange) |
|
The min and max range for sensor to detect a hit [min, max] |
[0, 0] |
Exec Out (outputs:execOut) |
|
Output execution triggers when lidar sensor has completed a full scan |
None |
Horizontal Fov (outputs:horizontalFov) |
|
Horizontal Field of View in degrees |
0 |
Horizontal Resolution (outputs:horizontalResolution) |
|
Degrees in between rays for horizontal axis |
0 |
Intensities Data (outputs:intensitiesData) |
|
Buffer array containing intensities data |
[] |
Linear Depth Data (outputs:linearDepthData) |
|
Buffer array containing linear depth data |
[] |
Num Cols (outputs:numCols) |
|
Number of columns in buffers |
0 |
Num Rows (outputs:numRows) |
|
Number of rows in buffers |
0 |
Rotation Rate (outputs:rotationRate) |
|
Rotation rate of sensor in Hz |
0 |
Vertical Fov (outputs:verticalFov) |
|
Vertical Field of View in degrees |
0 |
Vertical Resolution (outputs:verticalResolution) |
|
Degrees in between rays for vertical axis |
0 |
Zenith Range (outputs:zenithRange) |
|
The zenith range [min, max] |
[0.0, 0.0] |
Metadata
Name |
Value |
---|---|
Unique ID |
omni.isaac.range_sensor.IsaacReadLidarBeams |
Version |
1 |
Extension |
omni.isaac.range_sensor |
Icon |
ogn/icons/omni.isaac.range_sensor.IsaacReadLidarBeams.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Read Lidar Beams Node |
Categories |
isaacRangeSensor |
Generated Class Name |
OgnIsaacReadLidarBeamsDatabase |
Python Module |
omni.isaac.range_sensor |