Using the LidarRtx class, it seems that the generated omnigraph is not connected:
Could this be the reason that the pointcloud is empty? Is this the intended behaviour? Please give me support for this problem!
However, an error appears whenever I open the action graph:
Do you have an example which I can read the pointclouds in python and use writers for further processing?
Using the following lines of code I can produce the error and the problem of no connected nodes:
_, sensor = omni.kit.commands.execute(
translation=(0, 0, 1.0),
orientation=Gf.Quatd(0.5, 0.5, -0.5, -0.5),
_, render_product_path = create_hydra_texture([1, 1], sensor.GetPath().pathString)
template = sensors.get_synthetic_data().activate_node_template(
"RtxSensorCpu" + "IsaacComputeRTXLidarPointCloud",
output_directory = '/home/christof/simulator_isaacsim/output_host/' # "/isaac-sim/tools/output/"
writer = rep.WriterRegistry.get("BasicWriter")
The problem is the writer! → this example produces the error, but when the
writer.initialize(..) is removed then there is no problem and the nodes are connected. Something is going wrong in the initialize function.
I did some testing and limited the problem to the parameter
pointcloud=True → when this is set then nothing is working in the omnigraph!
Unfortunately, I need this parameter …
I guess it has something to do with the annotation part. As soon as I append any 3D bounding box annotator, the same behaviour occurs. Are there any annotator for lidars?
Hope this helps to describe the problem.