Isaac sim 中如何修改RTX旋转激光雷达的FOV，PhysX lidar可以通过horizontalfov和verticalfov来修改，rtx怎么实现这个呢，如果是128线，如何快速修改

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3

RTX lidar uses a different configuration model than PhysX lidar. There is no simple horizontalFov/verticalFov attribute – instead, RTX lidar FOV is defined by a JSON configuration file with per-beam emitter angles.

How to modify FOV for RTX rotary lidar:

  1. Find the config files at:
    <isaac_sim_root>/exts/isaacsim.sensors.rtx/data/lidar_configs/

  2. Key fields in the JSON profile section:

    • startAzimuthDeg / endAzimuthDeg → horizontal FOV (360 for full rotation)
    • upElevationDeg / downElevationDeg → vertical FOV bounds
    • emitterStates[0].elevationDeg → array of elevation angles for each beam
    • numberOfEmitters → beam count (128 for 128-line)

  3. For a quick 128-line custom config, copy an existing one likeOuster/OS1/OS1_REV7_128ch10hz512res.json,
    then modify the elevationDeg array (128 values spanning your desired vertical FOV) and set startAzimuthDeg/endAzimuthDeg for horizontal FOV.

  4. To use your custom config:

    omni.kit.commands.execute(
    "IsaacSensorCreateRtxLidar",
    path="/World/MyLidar",
    config="/path/to/your/custom_128ch.json",
)

For more information, please check out this page Non-Visual Sensors — Isaac Sim Documentation

Hope this helps!

4

谢谢您的解答回复！根据您的指点，我找到了startAzimuthDeg / endAzimuthDeg的修改位置，但是在NVIDIA Example_Rotary的这个激光雷达和OS1_REV7_128ch10hz512res的参数中，我都没有找到upElevationDeg / downElevationDeg这两个参数，垂直视场角是通过emitterStates[0].elevationDeg来修改吗。如果我想要一个70度的视场角，请问是修改128线的仰角整列么

5

还有一个问题想请教您，如果是Example_Solid_State固态激光雷达呢，我查询到对应的omni:sensor:Core:emitterState:s001:azimuthDeg和omni:sensor:Core:emitterState:s001:elevationDeg有5000个值，azimuthDeg的范围是-50°~50°逐渐变化，而elevationDeg的值从-8°开始大概有很多个重复的值，为什么是这样的设置方式呢，还希望您能给予讲解，如果我想用固态激光雷达，并调整垂直视场角为-30~30度，该怎么做呢。期待您的回复！

6

Hi @2245417883 Please checkout these two lines for upElevationDeg and downElevationDeg IsaacSim/source/extensions/isaacsim.sensors.rtx/data/lidar_configs/Ouster/OS1/OS1_REV7_128ch10hz512res.json at main · isaac-sim/IsaacSim · GitHub

7

The Example_Solid_State config has 50,000 emitter entries (not 5,000) because it defines a raster scan pattern — think of it as a 2D grid of rays:

  • 50 horizontal lines (numLines: 50)
  • 1,000 rays per line (numRaysPerLine: [1000, 1000, …])
  • Total: 50 × 1,000 = 50,000 rays
    This is why you see many repeated elevationDeg values — each horizontal line shares the same elevation. The pattern works like this:
  • Rays 0–999: all at elevation -8.0°, azimuth sweeps from -50° to +50° (in 0.1° steps)
  • Rays 1000–1999: all at elevation -7.67°, azimuth sweeps -50° to +50°
  • … and so on for all 50 lines

To change the vertical FOV to -30° to +30°, you need to regenerate the entire emitter arrays.