Thanks for such a great work and the latest update on Isaac Sim.
Is there any provision to extract the pointcloud data as a live feed without using ROS ? I am trying to generate synthetic pointcloud data to train a model and then I want to test it in simulation itself.
But the issue is I don’t want to add ROS into the inference pipeline and I am not sure how to get poinctcloud data as a live feed (just like a camera feed) directly from Isaac Sim using any other means.
I understand using a custom writer and already know how to use the replicator to generate point cloud data. What I want is to extract the point cloud at run time when the simulation is playing. In the same way where we see the change in point cloud info on a ROS topic. But instead of ROS, I want to implement a stand-alone pipeline (maybe like OpenCV or pyglet) to get the point cloud data while Isaac Sim is playing.