Isaac Compute RTX Lidar Flat Scan#

Accumulates full scan from the lowest elevation emitter on an RTX Lidar

Installation#

To use this node enable isaacsim.sensors.rtx in the Extension Manager.

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	`uint64`	DEPRECATED - Size (in bytes) of the buffer (0 if the input is a texture)	0
Cuda Device Index (inputs:cudaDeviceIndex)	`int`	DEPRECATED - Index of the device where the data lives (-1 for host data)	-1
Cuda Stream (inputs:cudaStream)	`uint64`	Cuda Stream Input	0
Data Pointer (inputs:dataPtr)	`uint64`	Pointer to LiDAR render result.	0
Exec (inputs:exec)	`execution`	The input execution port	None
Render Product Path (inputs:renderProductPath)	`token`	Used to retrieve lidar configuration.

Name	Type	Descripton	Default
Azimuth Range (outputs:azimuthRange)	`float[2]`	The azimuth range [min, max] (deg).	[0.0, 0.0]
Depth Range (outputs:depthRange)	`float[2]`	Range for sensor to detect a hit [min, max] (m)	[0, 0]
Exec (outputs:exec)	`execution`	Output execution triggers when lidar sensor has accumulated a full scan.	None
Horizontal Fov (outputs:horizontalFov)	`float`	Horizontal Field of View (deg)	0
Horizontal Resolution (outputs:horizontalResolution)	`float`	Increment between horizontal rays (deg)	0
Intensities Data (outputs:intensitiesData)	`uchar[]`	Intensity measurements from full scan, ordered by increasing azimuth	[]
Linear Depth Data (outputs:linearDepthData)	`float[]`	Linear depth measurements from full scan, ordered by increasing azimuth (m)	[]
Num Cols (outputs:numCols)	`int`	Number of columns in buffers	0
Num Rows (outputs:numRows)	`int`	Number of rows in buffers	1
Rotation Rate (outputs:rotationRate)	`float`	Rotation rate of sensor in Hz	0

Name	Value
Unique ID	isaacsim.sensors.rtx.IsaacComputeRTXLidarFlatScan
Version	3
Extension	isaacsim.sensors.rtx
Icon	ogn/icons/isaacsim.sensors.rtx.IsaacComputeRTXLidarFlatScan.svg
Has State?	True
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
categories	Sensor
keywords	rtx,lidar,sensor
tooltip	Accumulates full scan from the lowest elevation emitter on an RTX Lidar
display_name	Compute RTX Lidar Flat Scan
Categories	isaacRtxSensor
Generated Class Name	OgnIsaacComputeRTXLidarFlatScanDatabase
Python Module	isaacsim.sensors.rtx