Isaac Compute RTX Lidar Flat Scan Node
This node reads from the an RTX Lidar sensor and holds flat scan buffers
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. |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution triggers when lidar sensor has data |
|
horizontalFov |
|
Horizontal Field of View in degrees |
0 |
horizontalResolution |
|
Degrees in between rays for horizontal axis |
0 |
depthRange |
|
The min and max range for sensor to detect a hit [min, max] |
[0, 0] |
rotationRate |
|
Rotation rate of sensor in Hz |
0 |
linearDepthData |
|
Buffer array containing linear depth data |
[] |
intensitiesData |
|
Buffer array containing intensities data |
[] |
numRows |
|
Number of rows in buffers |
0 |
numCols |
|
Number of columns in buffers |
0 |
azimuthRange |
|
The azimuth range [min, max] |
[0.0, 0.0] |