Hi NVIDIA team,
We’re working on simulating realistic environmental conditions in Isaac Sim 4.2.0 using RTX-based sensors. Our original idea was to simulate fog using the Simple Fog and Volumetric Effects options available in the Render Settings, as shown in the screenshots below. The goal was to see how fog affects LiDAR returns—just as it already affects camera-based sensors in our tests.
However, we’ve noticed the following:
• No matter how extreme the fog parameters are (high intensity, low visibility, large distances), fog is never visible in RViz2 when visualizing the LiDAR point cloud.
• The fog is clearly visible in the Omniverse viewport and affects camera images, but it has zero effect on the LiDAR point cloud, even in dense fog conditions.
• We’re using the /isaac_sim/ouster/points topic in RViz2, and LiDAR is publishing as expected. The visibility of the environment remains unchanged before and after applying fog or atmospheric settings.
Our main questions:
1. How is the RTX LiDAR implemented under the hood? Is it ray tracing-based, or is it using a simplified model that ignores volumetrics?
2. Do post-processing effects (like fog, haze, lighting) apply at all to RTX-based LiDAR sensors in Isaac Sim?
3. If not, is there an alternative way to simulate LiDAR attenuation due to fog or particles?
4. Is it possible to modify the RTX LiDAR behavior through extensions or scripting to incorporate environmental effects?
Screenshots included:
• Isaac Sim with fog active (dense, visible in camera)
• RViz2 before and after applying fog (no change in point cloud)
• Environment settings panel and render settings
• Lidar rtx omnigrahp
We’d really appreciate any clarification or guidance on how to get more realistic sensor behavior under atmospheric conditions.
Thanks in advance!
Hey there,
Any update with this?
Did you have enough time to check our issue?
Bests,
Marco.
Yes this is correct. There is no physical simulation connection between the Sensor RTX tools and the Volumetric Render Effects. There are totally different systems. The Rendering Effects are just that, render effects for visual appeal.
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