@adiljus2
I managed to create some noise, although it doesn’t seem to be very good.
Here are some modifications in my code that you can try.
from isaacsim import SimulationApp
import numpy as np
import os
from datetime import datetime
config = {
"headless": False,
"app_setting": {
"/app/sensors/nv/lidar/outputBufferOnGPU": True,
"/app/sensors/nv/radar/outputBufferOnGPU": True,
"/app/sensors/nv/lidar/auxOutputType": "FULL",
"/app/sensors/nv/lidar/skipDroppingInvalidPoints": True,
"/app/sensors/nv/lidar/outputFrameOfReference": "GLOBAL",
"/app/sensors/nv/lidar/elementsCoordsType": "CARTESIAN"
}
}
kit = SimulationApp(config)
sensor = LidarRtx(
prim_path="/World/lidar",
translation=np.array([0.0, 0.0, 0.0]),
orientation=np.array([1.0, 0.0, 0.0, 0.0]),
config_file_name="Example_Solid_State",
)
However, I’ve encountered a new issue regarding creating an “RTX Sensor”. I haven’t been able to create a custom “RTX Sensor”, and can only create the “Sensor” from the example. I’ve faced many problems during the customization process.
I save the point cloud every 5 frames, but when I check it, there are some missing parts in the red-line section. I’m not sure why this is happening.
import omni
from pxr import Gf
# Specify attributes to apply to the ``OmniLidar`` prim.
sensor_attributes = {'omni:sensor:Core:scanRateBaseHz': 20}
_, sensor = omni.kit.commands.execute(
"IsaacSensorCreateRtxLidar",
translation=Gf.Vec3d(0, 0, 0),
orientation=Gf.Quatd(1, 0, 0, 0,),
path="/lidar",
parent=None,
config="None",
visiblity=False,
variant=None,
force_camera_prim=False,
**sensor_attributes,
)
When I create a custom sensor, it appears to be unusable. I’m not sure which parameters in “sensor_attributes” are mandatory.
