Isaac Compute RTX Lidar Flat Scan#

Extracts depth and intensity values from returns of accumulated scan of 2D RTX Lidar.

Installation#

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

Name	Type	Descripton	Default
Azimuth Buffer Size (inputs:azimuthBufferSize)	`uint64`	size	0
	Metadata	hidden = true
Azimuth Data Type (inputs:azimuthDataType)	`float`	type	4
	Metadata	hidden = true
azimuth (inputs:azimuthPtr)	`uint64`	azimuth in rad [-pi,pi]	0
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`	Index of the device on which data was originally generated.	-1
Data Pointer (inputs:dataPtr)	`uint64`	DEPRECATED - Pointer to Lidar render result.	0
Distance Buffer Size (inputs:distanceBufferSize)	`uint64`	size	0
	Metadata	hidden = true
Distance Data Type (inputs:distanceDataType)	`float`	type	4
	Metadata	hidden = true
distance (inputs:distancePtr)	`uint64`	range in m	0
Exec (inputs:exec)	`execution`	The input execution port	None
Intensity Buffer Size (inputs:intensityBufferSize)	`uint64`	size	0
	Metadata	hidden = true
Intensity Data Type (inputs:intensityDataType)	`float`	type	4
	Metadata	hidden = true
intensity (inputs:intensityPtr)	`uint64`	intensity [0,1]	0
Metadata Pointer (inputs:metaDataPtr)	`uint64`	Pointer to Lidar metadata.	0
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	Extracts depth and intensity values from returns of accumulated scan of 2D RTX Lidar.
display_name	Compute RTX Lidar Flat Scan
Categories	isaacRtxSensor
Generated Class Name	OgnIsaacComputeRTXLidarFlatScanDatabase
Python Module	isaacsim.sensors.rtx