LidarSensorInterface#
Fully qualified name: isaacsim::sensors::physx::LidarSensorInterface
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class LidarSensorInterface#
Interface for accessing LIDAR sensor data and properties.
Provides methods to access various aspects of LIDAR sensor data including depth measurements, beam timing, point clouds, and sensor configuration.
Public Members
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int (*getNumCols)(const char *sensorPath)#
Gets the number of columns in the LIDAR scan pattern.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Number of columns in the scan pattern.
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int (*getNumRows)(const char *sensorPath)#
Gets the number of rows in the LIDAR scan pattern.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Number of rows in the scan pattern.
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int (*getNumColsTicked)(const char *sensorPath)#
Gets the number of columns processed in the current tick.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Number of columns processed.
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uint16_t *(*getDepthData)(const char *sensorPath)#
Gets the raw depth data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the depth data buffer.
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float *(*getBeamTimeData)(const char *sensorPath)#
Gets the beam timing data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the beam time data buffer.
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float *(*getLinearDepthData)(const char *sensorPath)#
Gets the linear depth data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the linear depth data buffer.
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uint8_t *(*getIntensityData)(const char *sensorPath)#
Gets the intensity data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the intensity data buffer.
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float *(*getZenithData)(const char *sensorPath)#
Gets the zenith angle data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the zenith angle data buffer.
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float *(*getAzimuthData)(const char *sensorPath)#
Gets the azimuth angle data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the azimuth angle data buffer.
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carb::Float3 *(*getPointCloud)(const char *sensorPath)#
Gets the point cloud data buffer.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Pointer to the point cloud data buffer.
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std::vector<std::string> (*getPrimData)(const char *sensorPath)#
Gets the primitive data for hit objects.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Vector of primitive paths that were hit.
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bool (*isLidarSensor)(const char *sensorPath)#
Checks if a given path refers to a LIDAR sensor.
- Param sensorPath:
[in] Path to check.
- Return:
True if path refers to a LIDAR sensor, false otherwise.
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uint64_t (*getSequenceNumber)(const char *sensorPath)#
Gets the sequence number of the current scan.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Current sequence number.
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carb::Float2 (*getAzimuthRange)(const char *sensorPath)#
Gets the azimuth angle range of the sensor.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Azimuth range as (min, max) angles.
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carb::Float2 (*getZenithRange)(const char *sensorPath)#
Gets the zenith angle range of the sensor.
- Param sensorPath:
[in] Path to the sensor in the scene.
- Return:
Zenith range as (min, max) angles.
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int (*getNumCols)(const char *sensorPath)#