How to visualize a pointcloud in realtime from a camera

Omniverse Isaac Sim
1

Hi,

I want to visualize the pointcloud from my camera and import it into my isaac sim scene. I have found way to import a precomputed pointcloud but nothing realtime.

Is there any way to do this ?

Thanks

2

Hi @09ubberboy90 - This document will you regarding that: 12. Publish RTX Lidar Point Cloud — Omniverse IsaacSim latest documentation

3

Hi,

Sorry but this not what I want. This is Isaac → ROS and I want ROS → Isaac

4

Hi @09ubberboy90 - We do not support that currently in Isaac Sim.

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Hi! Do you still not support it or it is possible now?

6

Hi @rthaker ! Do you still not support it or it is possible now?

7

Hi there,

you can use debug draw to visualize the pointclouds:

Let me know if you need further assitance.

Cheers

1 Like
8

Thanks! I find it previously but how can i connect it with a ros2 (generic) subscriber (PointCloud2) which output data can not be connected with just a wire. :( What should i do?

9

How can I integrate a Python script like this into the graph to connect it to a ROS2 subscriber? Because the example provided here Debug Drawing [omni.isaac.debug_draw] — isaac_sim 4.2.0-rc.17 documentation for points doesn’t work for me. Or should I write the script together with the ROS2 subscriber in one piece and not integrate it into the graph at all? If so, how can I do that? How do I add the “on playback tick” and the ROS2 context? Should that also be written directly into the script?

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How can i connect a ros2 subscriber (wich subscribed to a pointcloud2 data format) whoch output data is uint and the isaac debug draw point cloud input data ptr is uint64 !!!

11

Maybe this is helpful: RTX Lidar Sensors — Omniverse IsaacSim