Isaac Compute RTX Radar Point Cloud Node#

This node reads from the an RTX Radar 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
Radar Render Results (inputs:dataPtr)	`uint64`	Pointer to Radar render result.	0
Exec (inputs:exec)	`execution`	The input execution port	None
Render Product Path (inputs:renderProductPath)	`token`	Path of the renderProduct to wait for being rendered

Outputs#

Name	Type	Descripton	Default
Azimuth (outputs:azimuth)	`float[]`	Azimuth angle (degrees)	[]
Buffer Size (outputs:bufferSize)	`uint64`	Size (in bytes) of the buffer (0 if the input is a texture)	None
Cuda Device Index (outputs:cudaDeviceIndex)	`int`	Index of the device where the data lives (-1 for host data)	-1
Cycle Cnt (outputs:cycleCnt)	`uint64`	Scan cycle count	None
Point Cloud Data (outputs:dataPtr)	`uint64`	Buffer of 3d points containing point cloud data in Radar coordinates	None
Elevation (outputs:elevation)	`float[]`	Angle of elevation (degrees)	[]
Exec (outputs:exec)	`execution`	Output execution triggers when Radar sensor has data	None
Height (outputs:height)	`uint`	Height of point cloud buffer, will always return 1	1
Material Id (outputs:materialId)	`uint[]`	material ID - DEPRECATED, no longer provided.	[]
Max Az Rad (outputs:maxAzRad)	`float`	The max unambiguous azimuth for the scan	None
Max El Rad (outputs:maxElRad)	`float`	The max unambiguous elevation for the scan	None
Max Range M (outputs:maxRangeM)	`float`	The max unambiguous range for the scan	None
Max Vel Mps (outputs:maxVelMps)	`float`	The max unambiguous velocity for the scan	None
Min Az Rad (outputs:minAzRad)	`float`	The min unambiguous azimuth for the scan	None
Min El Rad (outputs:minElRad)	`float`	The min unambiguous elevation for the scan	None
Min Vel Mps (outputs:minVelMps)	`float`	The min unambiguous velocity for the scan	None
Num Detections (outputs:numDetections)	`uint`	The number of valid detections in the array	None
Object Id (outputs:objectId)	`uint[]`	object ID - DEPRECATED, no longer provided.	[]
Radial Distance (outputs:radialDistance)	`float[]`	Radial distance (m)	[]
Radial Velocity (outputs:radialVelocity)	`float[]`	Radial velocity (m/s)	[]
Rcs (outputs:rcs)	`float[]`	Radar cross section in decibels referenced to a square meter (dBsm)	[]
Scan Idx (outputs:scanIdx)	`uchar`	Scan index for sensors with multi scan support	None
Semantic Id (outputs:semanticId)	`uint[]`	semantic ID - DEPRECATED, no longer provided.	[]
Sensor ID (outputs:sensorID)	`uchar`	Sensor Id for sensor that generated the scan	None
Time Stamp NS (outputs:timeStampNS)	`uint64`	Scan timestamp in nanoseconds	None
Transform (outputs:transform)	`matrixd[4]`	The input matrix transformed from Radar to World	None
Width (outputs:width)	`uint`	3 x Width or number of points in point cloud buffer	0

Metadata#

Name	Value
Unique ID	isaacsim.sensors.rtx.IsaacComputeRTXRadarPointCloud
Version	1
Extension	isaacsim.sensors.rtx
Icon	ogn/icons/isaacsim.sensors.rtx.IsaacComputeRTXRadarPointCloud.svg
Has State?	True
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Isaac Compute RTX Radar Point Cloud Node
Categories	isaacSensor
Generated Class Name	OgnIsaacComputeRTXRadarPointCloudDatabase
Python Module	isaacsim.sensors.rtx