Getting pointcloud data without ROS

Omniverse Isaac Sim
1

Hello,

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.

A little help would be great! Thanks,
Mayank

3

Hi there,

you can use the point cloud annotator from Replicator. You can also write a custom writer (ex1, ex2) to get live access to the data.

Let me know if you need further assistance.

Best,
Andrei

4

Hello @ahaidu! Thanks for the information.

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.

5

You can use orchestrator.step() to control the flow of the data, with annotators.get_data() you can also avoid using a custom writer.

6

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