How to find number of points generated per scan by RTX LiDAR

Omniverse Isaac Sim
1

I am using Isaac Sim 4.5 and working with an RTX LiDAR sensor. I would like to know how to calculate the number of points generated per scan by the RTX LiDAR. The configuration of LiDAR , I have posted here. I am rotated LiDAR from 0 to 180 deg by angular increment of 1.5 deg.

{
    "class": "sensor",
    "type": "lidar",
    "name": "Example Rotary",
    "driveWorksId": "GENERIC",
    "profile":
    {
      "scanType": "rotary",
      "intensityProcessing": "normalization",
      "rotationDirection": "CW",
      "rayType": "IDEALIZED",
      "nearRangeM": 0.1,
      "farRangeM": 200.0,

      "startAzimuthOffsetDeg": 0.0,

      "rangeResolutionM": 0.004,
      "rangeAccuracyM": 0.02,

      "avgPowerW": 0.002,
      "minReflectance": 0.1,
      "minReflectanceRange": 120.0,
      "wavelengthNm": 903.0,
      "pulseTimeNs": 6,

      "azimuthErrorMean": 0.0,
      "azimuthErrorStd": 0.015,
      "elevationErrorMean": 0.0,
      "elevationErrorStd": 0.0000,


      "maxReturns": 2,

      "scanRateBaseHz": 50.0,

      "reportRateBaseHz": 36000,

      "numberOfEmitters": 1,
      "emitterStateCount": 1,
      "emitterStates": [
      {
        "azimuthDeg": [0.0],
        "elevationDeg": [0.0],
        "fireTimeNs": [0]
      }
      ],

      "intensityMappingType": "LINEAR"
    }
  }
2

You can calculate the number of points per scan using a simple formula based on your configuration:

(Scanning Angle/Angular Increment)xnumberOfEmitters = (180/1.5)x1

3

In the above case, I am getting 28 million points, where the scanning angle is 180° and the angular increment is 0.009°. The number of emitters is 1. However, according to the suggested formula, it should be (180 / 0.009) × 1 = 20,000, which does not match.

4

How do you get 28 million points? Can you share the details for how you’re getting that number so we can reproduce it?

5

Hello!

We noticed that this topic hasn’t received any recent responses, so we are closing it for now to help keep the forum organized.

If you’re still experiencing this issue or have additional questions, please feel free to create a new topic with updated details. When doing so, we recommend mentioning or linking to this original topic in your new post—this helps provide context and makes it easier for others to assist you.

Thank you for being part of the NVIDIA Isaac Sim community.

Best regards,
The NVIDIA Isaac Sim Forum Team