Isaac Read RTX Lidar Point Data

This node reads the data straight from the an RTX Lidar sensor.

Installation

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

Inputs

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	uint64	number of bytes in dataPtr	0
Cuda Device Index (inputs:cudaDeviceIndex)	int	Index of the device where the data lives (-1 for host data)	-1
Cuda Stream (inputs:cudaStream)	uint64	Cuda Stream dataPtr is on if cudaDeviceIndex > -1	0
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	False
Render Product Path (inputs:renderProductPath)	token	Config is gotten from this

Outputs

Name	Type	Descripton	Default
Azimuths (outputs:azimuths)	float[]	azimuth in deg [0, 360)	[]
Channels (outputs:channels)	uint[]	channel of point	[]
Delta Times (outputs:deltaTimes)	uint[]	delta time in ns from the head (relative to tick timestamp)	[]
Depth Range (outputs:depthRange)	float[2]	The min and max range for sensor to detect a hit [min, max]	[0, 0]
Distances (outputs:distances)	float[]	distance in m	[]
Echos (outputs:echos)	uchar[]	echo id in ascending order	[]
Elevations (outputs:elevations)	float[]	elevation in deg [-90, 90]	[]
Emitter Ids (outputs:emitterIds)	uint[]	beam/laser detector id	[]
Exec (outputs:exec)	execution	Output execution triggers when lidar sensor has data	None
Flags (outputs:flags)	uchar[]	flags	[]
Frame Id (outputs:frameId)	uint64	The frameId of the current render	0
Hit Point Normals (outputs:hitPointNormals)	pointf[3][]	hit point Normal	[]
Intensities (outputs:intensities)	float[]	intensity [0,1]	[]
Material Ids (outputs:materialIds)	uint[]	hit point material id	[]
Num Beams (outputs:numBeams)	uint64	The number of lidar beams being output	0
Object Ids (outputs:objectIds)	uint[]	hit point object id	[]
Tick States (outputs:tickStates)	uchar[]	emitter state the tick belongs to	[]
Ticks (outputs:ticks)	uint[]	tick of point	[]
Timestamp Ns (outputs:timestampNs)	uint64	The time in nanoseconds of the start of frame	0
Transform (outputs:transform)	matrixd[4]	The transform matrix from lidar to world coordinates at the end of the frame	None
Transform Start (outputs:transformStart)	matrixd[4]	The transform matrix from lidar to world coordinates at the start of the frame	None
Velocities (outputs:velocities)	pointf[3][]	velocity at hit point in sensor coordinates [m/s]	[]

Metadata

Name	Value
Unique ID	omni.isaac.sensor.IsaacReadRTXLidarData
Version	1
Extension	omni.isaac.sensor
Icon	ogn/icons/omni.isaac.sensor.IsaacReadRTXLidarData.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Read RTX Lidar Point Data
Categories	isaacSensor
Generated Class Name	OgnIsaacReadRTXLidarDataDatabase
Python Module	omni.isaac.sensor