Isaac Compute RTX Radar Point Cloud Node

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

Installation

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

Inputs

Name	Type	Descripton	Default
Radar Render Results (inputs:dataPtr)	uint64	Pointer to Radar render result.	0
Exec (inputs:exec)	execution	The input execution port	None
Render Product Path (inputs:renderProductPath)	token	Path of the renderProduct to wait for being rendered

Outputs

Name	Type	Descripton	Default
Azimuth (outputs:azimuth)	float[]	Azimuth angle (radians)	[]
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
Cycle Cnt (outputs:cycleCnt)	uint64	Scan cycle count	None
Point Cloud Data (outputs:dataPtr)	uint64	Buffer of 3d points containing point cloud data in Radar coordinates	None
Elevation (outputs:elevation)	float[]	Angle of elevation (radians)	[]
Exec (outputs:exec)	execution	Output execution triggers when Radar sensor has data	None
Height (outputs:height)	uint	Height of point cloud buffer, will always return 1	1
Material Id (outputs:materialId)	uint[]	material ID	[]
Max Az Rad (outputs:maxAzRad)	float	The max unambiguous azimuth for the scan	None
Max El Rad (outputs:maxElRad)	float	The max unambiguous elevation for the scan	None
Max Range M (outputs:maxRangeM)	float	The max unambiguous range for the scan	None
Max Vel Mps (outputs:maxVelMps)	float	The max unambiguous velocity for the scan	None
Min Az Rad (outputs:minAzRad)	float	The min unambiguous azimuth for the scan	None
Min El Rad (outputs:minElRad)	float	The min unambiguous elevation for the scan	None
Min Vel Mps (outputs:minVelMps)	float	The min unambiguous velocity for the scan	None
Num Detections (outputs:numDetections)	uint	The number of valid detections in the array	None
Object Id (outputs:objectId)	uint[]	object ID	[]
Radial Distance (outputs:radialDistance)	float[]	Radial distance (m)	[]
Radial Velocity (outputs:radialVelocity)	float[]	Radial velocity (m/s)	[]
Rcs (outputs:rcs)	float[]	Radar cross section in decibels referenced to a square meter (dBsm)	[]
Scan Idx (outputs:scanIdx)	uchar	Scan index for sensors with multi scan support	None
Semantic Id (outputs:semanticId)	uint[]	semantic ID	[]
Sensor ID (outputs:sensorID)	uchar	Sensor Id for sensor that generated the scan	None
Time Stamp NS (outputs:timeStampNS)	uint64	Scan timestamp in nanoseconds	None
Transform (outputs:transform)	matrixd[4]	The input matrix transformed from Radar to World	None
Width (outputs:width)	uint	3 x Width or number of points in point cloud buffer	0

Metadata

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