Isaac Compute RTX Lidar Point Cloud Node

This node reads from the an RTX Lidar sensor and holds point cloud data buffers

Installation

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

Name	Type	Descripton	Default
Error Azimuth (inputs:accuracyErrorAzimuthDeg)	`float`	Accuracy error of azimuth in degrees applied to all points equally	0.0
Error Elevation (inputs:accuracyErrorElevationDeg)	`float`	Accuracy error of elevation in degrees applied to all points equally	0.0
Error Position (inputs:accuracyErrorPosition)	`float[3]`	Position offset applied to all points equally	[0.0, 0.0, 0.0]
LiDAR render result (inputs:dataPtr)	`uint64`	Pointer to LiDAR render result	0
Exec (inputs:exec)	`execution`	The input execution port	None
Keep Only Positive Distance (inputs:keepOnlyPositiveDistance)	`bool`	Keep points only if the return distance is > 0	True
Render Product Path (inputs:renderProductPath)	`token`	Path of the renderProduct to wait for being rendered

Name	Type	Descripton	Default
Azimuth (outputs:azimuth)	`float[]`	azimuth in rad [-pi,pi]	[]
Buffer Size (outputs:bufferSize)	`uint64`	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
Point Cloud Data (outputs:dataPtr)	`uint64`	Buffer of points containing point cloud data in Lidar coordinates	None
Elevation (outputs:elevation)	`float[]`	elevation in rad [-pi/2, pi/2]	[]
Exec (outputs:exec)	`execution`	Output execution triggers when lidar sensor has data	None
Height (outputs:height)	`uint`	Height of point cloud buffer, will always return 1	1
Intensity (outputs:intensity)	`float[]`	intensity [0,1]	[]
Range (outputs:range)	`float[]`	range in m	[]
Transform (outputs:transform)	`matrixd[4]`	The transform matrix from lidar to world coordinates	None
Width (outputs:width)	`uint`	3 x Width or number of points in point cloud buffer	0

Name	Value
Unique ID	omni.isaac.sensor.IsaacComputeRTXLidarPointCloud
Version	1
Extension	omni.isaac.sensor
Icon	ogn/icons/omni.isaac.sensor.IsaacComputeRTXLidarPointCloud.svg
Has State?	True
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Compute RTX Lidar Point Cloud Node
Categories	isaacSensor
Generated Class Name	OgnIsaacComputeRTXLidarPointCloudDatabase
Python Module	omni.isaac.sensor