About isaac sim RTX LIDAR 2D ROTARY

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  • Model: RTX4070S
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Topic Description

i just want to ask this one. does RTX 2D ROTARY LIDAR support motion distortion??

i found the parameter named “outputMotionCompensationState” on the property tab, and it is default set to “NONECOMPENSATED”.

does it mean it is supporting motion-distortion?

it seems to be, but i want assurances.

chatgpt says it is not supported but I’m doubting it. (it says the ray fires at once. no distortion )

it will be great if i can get how RTX LIDAR works.

thank you!

3

Yes, the RTX 2D Rotary LiDAR does support motion distortion. Motion distortion correction is supported since Isaac Sim 5.0.

About outputMotionCompensationState:

  • NONCOMPENSATED (default) – the output point cloud contains the raw, motion-distorted data. This is what a real sensor would output.

  • COMPENSATED – the LiDAR model applies motion compensation to transform all points to a single reference frame, removing the distortion.

So if you want realistic motion-distorted LiDAR data (which is the common case for testing perception algorithms), keep the default NONCOMPENSATED setting. If you want clean, undistorted point clouds, switch to COMPENSATED.

Please check out our documentation.

Hope this clears things up!