omni.isaac.lidar: LIDAR Simulation

This extension provides an interface to a omni.isaac.LidarSchema.Lidar prim defined in a stage.

Example

To use this interface you must first call the acquire interface function. It is also recommended to use the is_lidar function to check if a given USD path is valid

import omni.isaac.lidar._lidar.acquire_lidar_interface
lidar_interface = acquire_lidar_interface()
if lidar_interface.is_lidar("/World/Lidar"):
    print("lidar is valid")

Refer to the sample documentation for more examples and usage

class omni.isaac.lidar._lidar.LidarInterface
get_azimuth_data(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → object
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: numpy.ndarray: The azimuth angle in radians for each column

get_depth_data(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → object
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: numpy.ndarray: The distance from the lidar to the hit for each beam in uint16 and scaled by min and max distance

get_intensity_data(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → object
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: numpy.ndarray: The observed specular intensity of each beam, 255 if hit, 0 if not

get_linear_depth_data(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → object
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: numpy.ndarray: The distance from the lidar to the hit for each beam in meters

get_num_cols(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → int
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns

int – The number of vertical scans of the lidar, 0 if error occurred

get_num_cols_ticked(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → int
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns

int – The number of vertical scans the lidar completed in the last simulation step, 0 if error occurred. Generally only useful for lidars with a non-zero rotation speed

get_num_rows(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → int
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns

int – The number of horizontal scans of the lidar, 0 if error occurred

get_zenith_data(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → object
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: numpy.ndarray: The zenith angle in radians for each row

is_lidar(self: omni.isaac.lidar._lidar.LidarInterface, arg0: str) → bool
Parameters

arg0 (str) – USD path to lidar prim as a string

Returns: bool: True if a lidar exists at the give path, False otherwise

omni.isaac.lidar._lidar.acquire_lidar_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::lidar::LidarInterface
omni.isaac.lidar._lidar.release_lidar_interface(arg0: omni::isaac::lidar::LidarInterface) → None

Generated USD Schema API

The following USD Schema API was automatically generated, it is provided here as a reference

class omni.isaac.LidarSchema.Lidar

Bases: pxr.UsdGeom.Xformable

CreateDrawLidarLinesAttr()
CreateDrawLidarPointsAttr()
CreateHighLodAttr()
CreateHorizontalFovAttr()
CreateHorizontalResolutionAttr()
CreateMaxRangeAttr()
CreateMinRangeAttr()
CreateRotationRateAttr()
CreateVerticalFovAttr()
CreateVerticalResolutionAttr()
CreateYawOffsetAttr()
static Define()
static Get()
GetDrawLidarLinesAttr()
GetDrawLidarPointsAttr()
GetHighLodAttr()
GetHorizontalFovAttr()
GetHorizontalResolutionAttr()
GetMaxRangeAttr()
GetMinRangeAttr()
GetRotationRateAttr()
static GetSchemaAttributeNames()
GetVerticalFovAttr()
GetVerticalResolutionAttr()
GetYawOffsetAttr()