.. _isaacsim_sensors_rtx_IsaacExtractRTXSensorPointCloud_1:

.. _isaacsim_sensors_rtx_IsaacExtractRTXSensorPointCloud:

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

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


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

.. <description>

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

.. </description>


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

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


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

    "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"


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

    "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"


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

    "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"

