Isaac Read RTX Lidar Point Data#

This node reads the data straight from the an RTX Lidar sensor.

Installation#

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

Inputs#

Name

Type

Descripton

Default

Buffer Size (inputs:bufferSize)

uint64

number of bytes in dataPtr

0

Cuda Device Index (inputs:cudaDeviceIndex)

int

Index of the device where the data lives (-1 for host data)

-1

Cuda Stream (inputs:cudaStream)

uint64

Cuda Stream dataPtr is on if cudaDeviceIndex > -1

0

Data Pointer (inputs:dataPtr)

uint64

Pointer to LiDAR render result.

0

Exec (inputs:exec)

execution

The input execution port

None

Keep Only Positive Distance (inputs:keepOnlyPositiveDistance)

bool

Keep points only if the return distance is > 0

False

Render Product Path (inputs:renderProductPath)

token

Config is gotten from this

Outputs#

Name

Type

Descripton

Default

Azimuths (outputs:azimuths)

float[]

azimuth in deg [-180, 180)

[]

Channels (outputs:channels)

uint[]

channel of point

[]

Delta Times (outputs:deltaTimes)

uint[]

delta time in ns from the head (relative to tick timestamp)

[]

Depth Range (outputs:depthRange)

float[2]

The min and max range for sensor to detect a hit [min, max]

[0, 0]

Distances (outputs:distances)

float[]

distance in m

[]

Echos (outputs:echos)

uchar[]

echo id in ascending order

[]

Elevations (outputs:elevations)

float[]

elevation in deg [-90, 90]

[]

Emitter Ids (outputs:emitterIds)

uint[]

beam/laser detector id

[]

Exec (outputs:exec)

execution

Output execution triggers when lidar sensor has data

None

Flags (outputs:flags)

uchar[]

flags

[]

Frame Id (outputs:frameId)

uint64

The frameId of the current render

0

Hit Point Normals (outputs:hitPointNormals)

pointf[3][]

hit point Normal

[]

Intensities (outputs:intensities)

float[]

intensity [0,1]

[]

Material Ids (outputs:materialIds)

uint[]

hit point material id

[]

Num Beams (outputs:numBeams)

uint64

The number of lidar beams being output

0

Object Ids (outputs:objectIds)

uint[]

hit point object id

[]

Tick States (outputs:tickStates)

uchar[]

emitter state the tick belongs to

[]

Ticks (outputs:ticks)

uint[]

tick of point

[]

Timestamp Ns (outputs:timestampNs)

uint64

The time in nanoseconds of the start of frame

0

Transform (outputs:transform)

matrixd[4]

The transform matrix from lidar to world coordinates at the end of the frame

None

Transform Start (outputs:transformStart)

matrixd[4]

The transform matrix from lidar to world coordinates at the start of the frame

None

Velocities (outputs:velocities)

pointf[3][]

velocity at hit point in sensor coordinates [m/s]

[]

Metadata#

Name

Value

Unique ID

isaacsim.sensors.rtx.IsaacReadRTXLidarData

Version

1

Extension

isaacsim.sensors.rtx

Icon

ogn/icons/isaacsim.sensors.rtx.IsaacReadRTXLidarData.svg

Has State?

False

Implementation Language

C++

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Isaac Read RTX Lidar Point Data

Categories

isaacSensor

Generated Class Name

OgnIsaacReadRTXLidarDataDatabase

Python Module

isaacsim.sensors.rtx