Isaac Compute RTX Lidar Point Cloud Node#
This node reads from the an RTX Lidar sensor and holds point cloud data buffers
Installation#
To use this node enable isaacsim.sensors.rtx in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Error Azimuth (inputs:accuracyErrorAzimuthDeg) |
|
Accuracy error of azimuth in degrees applied to all points equally |
0.0 |
Error Elevation (inputs:accuracyErrorElevationDeg) |
|
Accuracy error of elevation in degrees applied to all points equally |
0.0 |
Error Position (inputs:accuracyErrorPosition) |
|
Position offset applied to all points equally |
[0.0, 0.0, 0.0] |
LiDAR render result (inputs:dataPtr) |
|
Pointer to LiDAR render result |
0 |
Exec (inputs:exec) |
|
The input execution port |
None |
Keep Only Positive Distance (inputs:keepOnlyPositiveDistance) |
|
Keep points only if the return distance is > 0 |
True |
Render Product Path (inputs:renderProductPath) |
|
Path of the renderProduct to wait for being rendered |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Azimuth (outputs:azimuth) |
|
azimuth in deg [-180, 180) |
[] |
Buffer Size (outputs:bufferSize) |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
None |
Cuda Device Index (outputs:cudaDeviceIndex) |
|
Index of the device where the data lives (-1 for host data) |
-1 |
Point Cloud Data (outputs:dataPtr) |
|
Buffer of points containing point cloud data in Lidar coordinates |
None |
Elevation (outputs:elevation) |
|
elevation in deg [-90, 90] |
[] |
Exec (outputs:exec) |
|
Output execution triggers when lidar sensor has data |
None |
Height (outputs:height) |
|
Height of point cloud buffer, will always return 1 |
1 |
Intensity (outputs:intensity) |
|
intensity [0,1] |
[] |
Range (outputs:range) |
|
range in m |
[] |
Transform (outputs:transform) |
|
The transform matrix from lidar to world coordinates |
None |
Width (outputs:width) |
|
3 x Width or number of points in point cloud buffer |
0 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.sensors.rtx.IsaacComputeRTXLidarPointCloud |
Version |
1 |
Extension |
isaacsim.sensors.rtx |
Icon |
ogn/icons/isaacsim.sensors.rtx.IsaacComputeRTXLidarPointCloud.svg |
Has State? |
True |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Compute RTX Lidar Point Cloud Node |
Categories |
isaacSensor |
Generated Class Name |
OgnIsaacComputeRTXLidarPointCloudDatabase |
Python Module |
isaacsim.sensors.rtx |