Isaac Compute RTX Lidar Point Cloud Node
This node reads from the an RTX Lidar sensor and holds point cloud data 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. |
|
Keep Only Positive Distance (keepOnlyPositiveDistance) |
|
Keep points only if the return distance is > 0 |
True |
Error Azimuth (accuracyErrorAzimuthDeg) |
|
Accuracy error of azimuth in degrees applied to all points equally |
|
Error Elevation (accuracyErrorElevationDeg) |
|
Accuracy error of elevation in degrees applied to all points equally |
|
Error Position (accuracyErrorPosition) |
|
Position offset applied to all points equally |
|
renderProductPath |
|
Path of the renderProduct to wait for being rendered |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution triggers when lidar sensor has data |
|
toWorldMatrix |
|
The transform matrix from lidar to world coordinates |
|
Point Cloud Data (pointCloudData) |
|
Buffer of 3d points containing point cloud data in Lidar coordinates |
[] |
intensity |
|
intensity [0,1] |
[] |
range |
|
range in m |
[] |
azimuth |
|
azimuth in rad [-pi,pi] |
[] |
elevation |
|
elevation in rad [-pi/2, pi/2] |
[] |