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)

execution

The input execution port

None

Lidar Prim (inputs:lidarPrim)

target

Usd prim reference to the lidar prim

None

Outputs

Name

Type

Descripton

Default

Azimuth Range (outputs:azimuthRange)

float[2]

The azimuth range [min, max]

[0.0, 0.0]

Beam Time Data (outputs:beamTimeData)

float[]

Buffer array containing beam time data

[]

Depth Range (outputs:depthRange)

float[2]

The min and max range for sensor to detect a hit [min, max]

[0, 0]

Exec Out (outputs:execOut)

execution

Output execution triggers when lidar sensor has completed a full scan

None

Horizontal Fov (outputs:horizontalFov)

float

Horizontal Field of View in degrees

0

Horizontal Resolution (outputs:horizontalResolution)

float

Degrees in between rays for horizontal axis

0

Intensities Data (outputs:intensitiesData)

uchar[]

Buffer array containing intensities data

[]

Linear Depth Data (outputs:linearDepthData)

float[]

Buffer array containing linear depth data

[]

Num Cols (outputs:numCols)

int

Number of columns in buffers

0

Num Rows (outputs:numRows)

int

Number of rows in buffers

0

Rotation Rate (outputs:rotationRate)

float

Rotation rate of sensor in Hz

0

Vertical Fov (outputs:verticalFov)

float

Vertical Field of View in degrees

0

Vertical Resolution (outputs:verticalResolution)

float

Degrees in between rays for vertical axis

0

Zenith Range (outputs:zenithRange)

float[2]

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