Isaac Create RTX Lidar Scan Buffer

This node creates a full scan buffer for RTX Lidar sensor.

Installation

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

Inputs

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]
Cuda Device Index (inputs:cudaDeviceIndex)	int	Index of the device where the data lives (-1 for host data)	-1
Data Pointer (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
Output The Azimuth (inputs:outputAzimuth)	bool	Create an output array for the Azimuth.	False
Output The BeamId (inputs:outputBeamId)	bool	Create an output array for the BeamId.	False
Output The Distance (inputs:outputDistance)	bool	Create an output array for the Distance.	True
Output The Elevation (inputs:outputElevation)	bool	Create an output array for the Elevation.	False
Output The EmitterId (inputs:outputEmitterId)	bool	Create an output array for the EmitterId.	False
Output The Intensity (inputs:outputIntensity)	bool	Create an output array for the Intensity.	True
Output The MaterialId (inputs:outputMaterialId)	bool	Create an output array for the MaterialId.	False
Output The Normals (inputs:outputNormal)	bool	Create an output array for the Normals.	False
Output The ObjectId (inputs:outputObjectId)	bool	Create an output array for the ObjectId.	False
Output The Timestamp (inputs:outputTimestamp)	bool	Create an output array for the Timestamp.	False
Output The Velocity (inputs:outputVelocity)	bool	Create an output array for the Velocity.	False
Render Product Path (inputs:renderProductPath)	token	Config is gotten from this
Output in World Coordinates (inputs:transformPoints)	bool	Transform point cloud to world coordinates	False

Outputs

Name	Type	Descripton	Default
Azimuth Buffer Size (outputs:azimuthBufferSize)	uint64	size	None
	Metadata	hidden = true
Azimuth Data Type (outputs:azimuthDataType)	float	type	4
	Metadata	hidden = true
azimuth (outputs:azimuthPtr)	uint64	azimuth in rad [-pi,pi]	None
Beam Id Buffer Size (outputs:beamIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Beam Id Data Type (outputs:beamIdDataType)	uint	type	4
	Metadata	hidden = true
beamId (outputs:beamIdPtr)	uint64	beamId	None
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	Pointer to LiDAR render result.	None
Distance Buffer Size (outputs:distanceBufferSize)	uint64	size	None
	Metadata	hidden = true
Distance Data Type (outputs:distanceDataType)	float	type	4
	Metadata	hidden = true
distance (outputs:distancePtr)	uint64	range in m	None
Elevation Buffer Size (outputs:elevationBufferSize)	uint64	size	None
	Metadata	hidden = true
Elevation Data Type (outputs:elevationDataType)	float	type	4
	Metadata	hidden = true
elevation (outputs:elevationPtr)	uint64	elevation in rad [-pi/2, pi/2]	None
Emitter Id Buffer Size (outputs:emitterIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Emitter Id Data Type (outputs:emitterIdDataType)	uint	type	4
	Metadata	hidden = true
emitterId (outputs:emitterIdPtr)	uint64	emitterId	None
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
Index Buffer Size (outputs:indexBufferSize)	uint64	size	None
	Metadata	hidden = true
Index Data Type (outputs:indexDataType)	uint	type	4
	Metadata	hidden = true
index (outputs:indexPtr)	uint64	Index into the full array if keepOnlyPositiveDistance ((startTick+tick)*numChannels*numEchos + channel*numEchos + echo)	None
Intensity Buffer Size (outputs:intensityBufferSize)	uint64	size	None
	Metadata	hidden = true
Intensity Data Type (outputs:intensityDataType)	float	type	4
	Metadata	hidden = true
intensity (outputs:intensityPtr)	uint64	intensity [0,1]	None
Material Id Buffer Size (outputs:materialIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Material Id Data Type (outputs:materialIdDataType)	uint	type	4
	Metadata	hidden = true
materialId (outputs:materialIdPtr)	uint64	materialId at hit location	None
Normal Buffer Size (outputs:normalBufferSize)	uint64	size	None
	Metadata	hidden = true
Normal Data Type (outputs:normalDataType)	float[3]	type	[4, 0, 0]
	Metadata	hidden = true
normal (outputs:normalPtr)	uint64	Normal at the hit location	None
Num Channels (outputs:numChannels)	uint	Number of channels of the lidar	None
Num Echos (outputs:numEchos)	uint	Number of echos of the lidar	None
Num Returns Per Scan (outputs:numReturnsPerScan)	uint	Number of returns in the full scan	None
Object Id Buffer Size (outputs:objectIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Object Id Data Type (outputs:objectIdDataType)	uint	type	4
	Metadata	hidden = true
objectId (outputs:objectIdPtr)	uint64	ObjectId for getting usd prim information	None
Render Product Path (outputs:renderProductPath)	token	Config is gotten from this	None
Ticks Per Scan (outputs:ticksPerScan)	uint	Number of ticks in a full scan	None
Timestamp Buffer Size (outputs:timestampBufferSize)	uint64	size	None
	Metadata	hidden = true
Timestamp Data Type (outputs:timestampDataType)	uint64	type	8
	Metadata	hidden = true
timestamp (outputs:timestampPtr)	uint64	timestamp in ns	None
Transform (outputs:transform)	matrixd[4]	The transform matrix from lidar to world coordinates	None
Velocity Buffer Size (outputs:velocityBufferSize)	uint64	size	None
	Metadata	hidden = true
Velocity Data Type (outputs:velocityDataType)	float[3]	type	[4, 0, 0]
	Metadata	hidden = true
velocity (outputs:velocityPtr)	uint64	elevation in rad [-pi/2, pi/2]	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.IsaacCreateRTXLidarScanBuffer
Version	1
Extension	omni.isaac.sensor
Icon	ogn/icons/omni.isaac.sensor.IsaacCreateRTXLidarScanBuffer.svg
Has State?	True
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Create RTX Lidar Scan Buffer
Categories	isaacSensor
Generated Class Name	OgnIsaacCreateRTXLidarScanBufferDatabase
Python Module	omni.isaac.sensor