LidarPointAccumulator
Gets pointcloud and writes it to csv file
Installation
To use this Node, you must enable omni.drivesim.sensors.nv.lidar_tools
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
src |
|
Input buffer |
0 |
cudaStream |
|
Cuda Stream Input |
0 |
targetPID |
|
Target process ID to send data stream to |
0 |
rightHanded |
|
Right handed pc |
True |
sensorProfileName |
|
Filename of the sensor profile - has to be the same as in lidar model |
|
exportBytePoints |
|
Export lidar points |
False |
publishVizPoints |
|
Export viz points |
True |
sensorMount6DPose |
|
[x,y,z,r,p,y] |
|
colorCode |
|
0 - constant, 1 - intensity, 2 - height, 3 - range, 4 - objectId, 5 - echoId, 6 - materialId |
1 |
sendDataId |
|
Send data id to distinguish point clouds on the receiver side |
0 |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
dest |
|
Output buffer of accumulated LidarPoints |
0 |
numPoints |
|
Output points – not used for viz points |
0 |
newData |
|
True if new data is published |
False |
cudaStream |
|
Cuda Stream Input |
0 |