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.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Accumulate Lidar Scan (inputs:accumulateLidarScan) |
|
Lidar only. Set to true if dataPtr input is expected to be accumulated Lidar scan. |
False |
Cuda Stream (inputs:cudaStream) |
|
Cuda Stream Input |
0 |
Data Ptr (inputs:dataPtr) |
|
Pointer to the GenericModelOutput data. |
0 |
Exec (inputs:exec) |
|
The input execution port |
None |
New Data (inputs:newData) |
|
Lidar only. Set to true if dataPtr input is accumulated Lidar scan; only tested if accumulateLidarScan is true. |
False |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Accumulated Data (outputs:accumulatedData) |
|
If accumulateLidarScan is true, this will be true if the point cloud data is new (i.e. not a repeat of the previous frame) |
False |
Buffer Size (outputs:bufferSize) |
|
Size (in bytes) of the point cloud buffer (0 if the input is a texture) |
0 |
Cuda Device Index (outputs:cudaDeviceIndex) |
|
Index of the device where the data lives (-1 for host data) |
-1 |
Cuda Stream (outputs:cudaStream) |
|
Cuda Stream Input |
0 |
Point Cloud Data (outputs:dataPtr) |
|
Buffer containing point cloud data |
0 |
Exec (outputs:exec) |
|
Output execution triggers when lidar sensor has data |
None |
Height (outputs:height) |
|
Height of point cloud buffer, will always return 1 |
1 |
Transform (outputs:transform) |
|
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) |
|
3 x Width or number of points in point cloud buffer |
0 |
Metadata#
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 |