Isaac Compute RTX Radar Point Cloud Node
This node reads from the an RTX Radar 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 Radar render result. |
|
transform |
|
The matrix to transform the points by |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution triggers when Radar sensor has data |
|
transform |
|
The input matrix transformed from Radar to World |
|
syncData |
|
Pointer to SyncData Sync primitives for syncing with model |
|
sensorID |
|
Sensor Id for sensor that generated the scan |
|
scanIdx |
|
Scan index for sensors with multi scan support |
|
timeStampNS |
|
Scan timestamp in nanoseconds |
|
cycleCnt |
|
Scan cycle count |
|
maxRangeM |
|
The max unambiguous range for the scan |
|
minVelMps |
|
The min unambiguous velocity for the scan |
|
maxVelMps |
|
The max unambiguous velocity for the scan |
|
minAzRad |
|
The min unambiguous azimuth for the scan |
|
maxAzRad |
|
The max unambiguous azimuth for the scan |
|
minElRad |
|
The min unambiguous elevation for the scan |
|
maxElRad |
|
The max unambiguous elevation for the scan |
|
numDetections |
|
The number of valid detections in the array |
|
Point Cloud Data (pointCloudData) |
|
Buffer of 3d points containing point cloud data in Radar coordinates |
[] |
radialDistance |
|
Radial distance (m) |
[] |
radialVelocity |
|
Radial velocity (m/s) |
[] |
azimuth |
|
Azimuth angle (radians) |
[] |
elevation |
|
Angle of elevation (radians) |
[] |
rcs |
|
Radar cross section in decibels referenced to a square meter (dBsm) |
[] |
semanticId |
|
semantic ID |
[] |
materialId |
|
material ID |
[] |
objectId |
|
object ID |
[] |