Isaac Extract RTX Sensor Point Cloud

Extracts a Cartesian point cloud and auxiliary data from the GenericModelOutput buffer produced by RTX Lidar or Radar sensors. Converts spherical coordinates to Cartesian when necessary. Outputs are automatically wired based on the data available in the GMO buffer (modality, auxType, and filled auxiliary members).

Installation

To use this node enable isaacsim.sensors.rtx.nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
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 the GenericModelOutput render result.	0
Exec (inputs:exec)	execution	The input execution port.	None

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
Buffer Size (outputs:bufferSize)	uint64	Size (in bytes) of the point cloud buffer.	None
Channel Id Buffer Size (outputs:channelIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Channel Id Data Type (outputs:channelIdDataType)	uint	type	0
	Metadata	hidden = true
channelId (outputs:channelIdPtr)	uint64	channelId	0
Cuda Device Index (outputs:cudaDeviceIndex)	int	Index of the device where the output data lives (-1 for host data).	-1
Point Cloud Data (outputs:dataPtr)	uint64	Pointer to Cartesian point cloud (float3 array).	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
Echo Id Buffer Size (outputs:echoIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Echo Id Data Type (outputs:echoIdDataType)	uchar	type	0
	Metadata	hidden = true
echoId (outputs:echoIdPtr)	uint64	echoId	0
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	0
	Metadata	hidden = true
emitterId (outputs:emitterIdPtr)	uint64	emitterId	0
Exec (outputs:exec)	execution	Output execution triggers when sensor has data.	None
Height (outputs:height)	uint	Always 1 (point cloud is a flat buffer).	1
Hit Normal Buffer Size (outputs:hitNormalBufferSize)	uint64	size	None
	Metadata	hidden = true
Hit Normal Data Type (outputs:hitNormalDataType)	float[3]	type	[0, 0, 0]
	Metadata	hidden = true
normal (outputs:hitNormalPtr)	uint64	Normal at hit location	0
Intensity Buffer Size (outputs:intensityBufferSize)	uint64	size	0
	Metadata	hidden = true
Intensity Data Type (outputs:intensityDataType)	float	type	0
	Metadata	hidden = true
intensity (outputs:intensityPtr)	uint64	Intensity [0,1].	0
Material Id Buffer Size (outputs:materialIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Material Id Data Type (outputs:materialIdDataType)	uint	type	0
	Metadata	hidden = true
materialId (outputs:materialIdPtr)	uint64	materialId at hit location	0
Object Id Buffer Size (outputs:objectIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Object Id Data Type (outputs:objectIdDataType)	uint[]	type	[0, 0, 0, 0]
	Metadata	hidden = true
objectId (outputs:objectIdPtr)	uint64	ObjectId for getting usd prim information	0
Radial Velocity MS Buffer Size (outputs:radialVelocityMSBufferSize)	uint64	size	None
	Metadata	hidden = true
Radial Velocity MS Data Type (outputs:radialVelocityMSDataType)	float	type	0
	Metadata	hidden = true
radialVelocityMS (outputs:radialVelocityMSPtr)	uint64	radialVelocityMS	0
Tick Id Buffer Size (outputs:tickIdBufferSize)	uint64	size	None
	Metadata	hidden = true
Tick Id Data Type (outputs:tickIdDataType)	uint	type	0
	Metadata	hidden = true
tickId (outputs:tickIdPtr)	uint64	tickId	0
Tick State Buffer Size (outputs:tickStateBufferSize)	uint64	size	None
	Metadata	hidden = true
Tick State Data Type (outputs:tickStateDataType)	uchar	type	0
	Metadata	hidden = true
tickState (outputs:tickStatePtr)	uint64	tickState	0
Timestamp Buffer Size (outputs:timestampBufferSize)	uint64	size	None
	Metadata	hidden = true
Timestamp Data Type (outputs:timestampDataType)	uint64	type	0
	Metadata	hidden = true
timestamp (outputs:timestampPtr)	uint64	Timestamp in ns.	0
Transform (outputs:transform)	matrixd[4]	The sensor-to-world transform matrix at the time of capture.	None
Velocity Buffer Size (outputs:velocityBufferSize)	uint64	size	None
	Metadata	hidden = true
Velocity Data Type (outputs:velocityDataType)	float[3]	type	[0, 0, 0]
	Metadata	hidden = true
velocity (outputs:velocityPtr)	uint64	Velocity vector at hit point (m/s)	0
Width (outputs:width)	uint	Number of points in the point cloud.	0

Metadata

Name	Value
Unique ID	isaacsim.sensors.rtx.nodes.OgnIsaacExtractRTXSensorPointCloud
Version	1
Extension	isaacsim.sensors.rtx.nodes
Icon	ogn/icons/isaacsim.sensors.rtx.nodes.OgnIsaacExtractRTXSensorPointCloud.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Extract RTX Sensor Point Cloud
Categories	isaacRtxSensor
Generated Class Name	OgnIsaacExtractRTXSensorPointCloudDatabase
Python Module	isaacsim.sensors.rtx.nodes