.. _isaacsim_sensors_rtx_nodes_OgnIsaacExtractRTXSensorPointCloud_1:

.. _isaacsim_sensors_rtx_nodes_OgnIsaacExtractRTXSensorPointCloud:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
.. ================================================================================

:orphan:

.. meta::
    :title: Isaac Extract RTX Sensor Point Cloud
    :keywords: lang-en omnigraph node isaacRtxSensor nodes ogn-isaac-extract-r-t-x-sensor-point-cloud


Isaac Extract RTX Sensor Point Cloud
====================================

.. <description>

Extracts a Cartesian point cloud and auxiliary data from the GenericModelOutput buffer produced by RTX Lidar or Radar sensors. Converts spherical coordinates to Cartesian when necessary. Outputs are automatically wired based on the data available in the GMO buffer (modality, auxType, and filled auxiliary members).

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.sensors.rtx.nodes<ext_isaacsim_sensors_rtx_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Cuda Device Index (*inputs:cudaDeviceIndex*)", "``int``", "Index of the device where the data lives (-1 for host data).", "-1"
    "Data Pointer (*inputs:dataPtr*)", "``uint64``", "Pointer to the GenericModelOutput render result.", "0"
    "Exec (*inputs:exec*)", "``execution``", "The input execution port.", "None"


Outputs
-------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Azimuth Buffer Size (*outputs:azimuthBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Azimuth Data Type (*outputs:azimuthDataType*)", "``float``", "type", "4"
    "", "Metadata", "*hidden* = true", ""
    "azimuth (*outputs:azimuthPtr*)", "``uint64``", "Azimuth in rad [-pi,pi].", "None"
    "Buffer Size (*outputs:bufferSize*)", "``uint64``", "Size (in bytes) of the point cloud buffer.", "None"
    "Channel Id Buffer Size (*outputs:channelIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Channel Id Data Type (*outputs:channelIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "channelId (*outputs:channelIdPtr*)", "``uint64``", "channelId", "0"
    "Cuda Device Index (*outputs:cudaDeviceIndex*)", "``int``", "Index of the device where the output data lives (-1 for host data).", "-1"
    "Point Cloud Data (*outputs:dataPtr*)", "``uint64``", "Pointer to Cartesian point cloud (float3 array).", "None"
    "Distance Buffer Size (*outputs:distanceBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Distance Data Type (*outputs:distanceDataType*)", "``float``", "type", "4"
    "", "Metadata", "*hidden* = true", ""
    "distance (*outputs:distancePtr*)", "``uint64``", "Range in m.", "None"
    "Echo Id Buffer Size (*outputs:echoIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Echo Id Data Type (*outputs:echoIdDataType*)", "``uchar``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "echoId (*outputs:echoIdPtr*)", "``uint64``", "echoId", "0"
    "Elevation Buffer Size (*outputs:elevationBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Elevation Data Type (*outputs:elevationDataType*)", "``float``", "type", "4"
    "", "Metadata", "*hidden* = true", ""
    "elevation (*outputs:elevationPtr*)", "``uint64``", "Elevation in rad [-pi/2, pi/2].", "None"
    "Emitter Id Buffer Size (*outputs:emitterIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Emitter Id Data Type (*outputs:emitterIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "emitterId (*outputs:emitterIdPtr*)", "``uint64``", "emitterId", "0"
    "Exec (*outputs:exec*)", "``execution``", "Output execution triggers when sensor has data.", "None"
    "Height (*outputs:height*)", "``uint``", "Always 1 (point cloud is a flat buffer).", "1"
    "Hit Normal Buffer Size (*outputs:hitNormalBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Hit Normal Data Type (*outputs:hitNormalDataType*)", "``float[3]``", "type", "[0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "normal (*outputs:hitNormalPtr*)", "``uint64``", "Normal at hit location", "0"
    "Intensity Buffer Size (*outputs:intensityBufferSize*)", "``uint64``", "size", "0"
    "", "Metadata", "*hidden* = true", ""
    "Intensity Data Type (*outputs:intensityDataType*)", "``float``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "intensity (*outputs:intensityPtr*)", "``uint64``", "Intensity [0,1].", "0"
    "Material Id Buffer Size (*outputs:materialIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Material Id Data Type (*outputs:materialIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "materialId (*outputs:materialIdPtr*)", "``uint64``", "materialId at hit location", "0"
    "Object Id Buffer Size (*outputs:objectIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Object Id Data Type (*outputs:objectIdDataType*)", "``uint[]``", "type", "[0, 0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "objectId (*outputs:objectIdPtr*)", "``uint64``", "ObjectId for getting usd prim information", "0"
    "Radial Velocity MS Buffer Size (*outputs:radialVelocityMSBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Radial Velocity MS Data Type (*outputs:radialVelocityMSDataType*)", "``float``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "radialVelocityMS (*outputs:radialVelocityMSPtr*)", "``uint64``", "radialVelocityMS", "0"
    "Tick Id Buffer Size (*outputs:tickIdBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Tick Id Data Type (*outputs:tickIdDataType*)", "``uint``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "tickId (*outputs:tickIdPtr*)", "``uint64``", "tickId", "0"
    "Tick State Buffer Size (*outputs:tickStateBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Tick State Data Type (*outputs:tickStateDataType*)", "``uchar``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "tickState (*outputs:tickStatePtr*)", "``uint64``", "tickState", "0"
    "Timestamp Buffer Size (*outputs:timestampBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Timestamp Data Type (*outputs:timestampDataType*)", "``uint64``", "type", "0"
    "", "Metadata", "*hidden* = true", ""
    "timestamp (*outputs:timestampPtr*)", "``uint64``", "Timestamp in ns.", "0"
    "Transform (*outputs:transform*)", "``matrixd[4]``", "The sensor-to-world transform matrix at the time of capture.", "None"
    "Velocity Buffer Size (*outputs:velocityBufferSize*)", "``uint64``", "size", "None"
    "", "Metadata", "*hidden* = true", ""
    "Velocity Data Type (*outputs:velocityDataType*)", "``float[3]``", "type", "[0, 0, 0]"
    "", "Metadata", "*hidden* = true", ""
    "velocity (*outputs:velocityPtr*)", "``uint64``", "Velocity vector at hit point (m/s)", "0"
    "Width (*outputs:width*)", "``uint``", "Number of points in the point cloud.", "0"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.sensors.rtx.nodes.OgnIsaacExtractRTXSensorPointCloud"
    "Version", "1"
    "Extension", "isaacsim.sensors.rtx.nodes"
    "Icon", "ogn/icons/isaacsim.sensors.rtx.nodes.OgnIsaacExtractRTXSensorPointCloud.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "Isaac Extract RTX Sensor Point Cloud"
    "Categories", "isaacRtxSensor"
    "Generated Class Name", "OgnIsaacExtractRTXSensorPointCloudDatabase"
    "Python Module", "isaacsim.sensors.rtx.nodes"

