Isaac Read RTX Lidar Point Data
This node reads the data straight from the an RTX Lidar sensor.
Installation
To use this Node, you must enable omni.isaac.sensor
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port |
|
CPU Pointer (cpuPointer) |
|
CPU Pointer to LiDAR render result. |
|
Keep Only Positive Distance (keepOnlyPositiveDistance) |
|
Keep points only if the return distance is > 0 |
True |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution triggers when lidar sensor has data |
|
intensity |
|
intensity [0,1] |
[] |
distance |
|
distance in m |
[] |
azimuth |
|
azimuth in rad [-pi,pi] |
[] |
elevation |
|
elevation in rad [-pi/2, pi/2] |
[] |
velocityMs |
|
velocity at hit point in sensor coordinates [m/s] |
[] |
echoId |
|
echo id in ascending order |
[] |
emitterId |
|
beam/laser detector id |
[] |
beamId |
|
beam/laser detector id |
[] |
materialId |
|
hit point material id |
[] |
hitPointNormal |
|
hit point Normal |
[] |
tick |
|
tick of point |
[] |
objectId |
|
hit point object id |
[] |
timeStampNs |
|
absolute timeStamp in nano seconds |
[] |