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) |
|
number of bytes in dataPtr |
0 |
Cuda Device Index (inputs:cudaDeviceIndex) |
|
Index of the device where the data lives (-1 for host data) |
-1 |
Cuda Stream (inputs:cudaStream) |
|
Cuda Stream dataPtr is on if cudaDeviceIndex > -1 |
0 |
Data Pointer (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 |
False |
Render Product Path (inputs:renderProductPath) |
|
Config is gotten from this |
Outputs#
Name |
Type |
Descripton |
Default |
---|---|---|---|
Azimuths (outputs:azimuths) |
|
azimuth in deg [-180, 180) |
[] |
Channels (outputs:channels) |
|
channel of point |
[] |
Delta Times (outputs:deltaTimes) |
|
delta time in ns from the head (relative to tick timestamp) |
[] |
Depth Range (outputs:depthRange) |
|
The min and max range for sensor to detect a hit [min, max] |
[0, 0] |
Distances (outputs:distances) |
|
distance in m |
[] |
Echos (outputs:echos) |
|
echo id in ascending order |
[] |
Elevations (outputs:elevations) |
|
elevation in deg [-90, 90] |
[] |
Emitter Ids (outputs:emitterIds) |
|
beam/laser detector id |
[] |
Exec (outputs:exec) |
|
Output execution triggers when lidar sensor has data |
None |
Flags (outputs:flags) |
|
flags |
[] |
Frame Id (outputs:frameId) |
|
The frameId of the current render |
0 |
Hit Point Normals (outputs:hitPointNormals) |
|
hit point Normal |
[] |
Intensities (outputs:intensities) |
|
intensity [0,1] |
[] |
Material Ids (outputs:materialIds) |
|
hit point material id |
[] |
Num Beams (outputs:numBeams) |
|
The number of lidar beams being output |
0 |
Object Ids (outputs:objectIds) |
|
hit point object id |
[] |
Tick States (outputs:tickStates) |
|
emitter state the tick belongs to |
[] |
Ticks (outputs:ticks) |
|
tick of point |
[] |
Timestamp Ns (outputs:timestampNs) |
|
The time in nanoseconds of the start of frame |
0 |
Transform (outputs:transform) |
|
The transform matrix from lidar to world coordinates at the end of the frame |
None |
Transform Start (outputs:transformStart) |
|
The transform matrix from lidar to world coordinates at the start of the frame |
None |
Velocities (outputs:velocities) |
|
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 |