Isaac Extract RTX Sensor Point Cloud#

Extracts point cloud data from an RTX sensor’s output buffer as Cartesian coordinates

Installation#

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

Name	Type	Descripton	Default
Buffer Size (inputs:bufferSize)	`uint64`	Size (in bytes) of the point cloud buffer (0 if the input is a texture)	0
Cuda Device Index (inputs:cudaDeviceIndex)	`int`	Index of the device on which data was originally generated.	-1
Cuda Stream (inputs:cudaStream)	`uint64`	Cuda Stream Input	0
Data Ptr (inputs:dataPtr)	`uint64`	Pointer to the GenericModelOutput data.	0
Exec (inputs:exec)	`execution`	The input execution port	None

Name	Type	Descripton	Default
Buffer Size (outputs:bufferSize)	`uint64`	Size (in bytes) of the point cloud buffer (0 if the input is a texture)	0
Cuda Device Index (outputs:cudaDeviceIndex)	`int`	Index of the device where the data lives (-1 for host data)	-1
Point Cloud Data (outputs:dataPtr)	`uint64`	Buffer containing point cloud data	0
Exec (outputs:exec)	`execution`	Output execution triggers when lidar sensor has data	None
Height (outputs:height)	`uint`	Height of point cloud buffer, will always return 1	1
Transform (outputs:transform)	`matrixd[4]`	The transform matrix from lidar to world coordinates	[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]
Width (outputs:width)	`uint`	3 x Width or number of points in point cloud buffer	0

Name	Value
Unique ID	isaacsim.sensors.rtx.IsaacExtractRTXSensorPointCloud
Version	1
Extension	isaacsim.sensors.rtx
Has State?	True
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
categories	Sensor
keywords	rtx,lidar,sensor
tooltip	Extracts point cloud data from an RTX sensor’s output buffer as Cartesian coordinates.
display_name	Extract RTX Sensor Point Cloud
Categories	isaacRtxSensor
Generated Class Name	OgnIsaacExtractRTXSensorPointCloudDatabase
Python Module	isaacsim.sensors.rtx