Lidar points missing in origin

Omniverse Isaac Sim
1

Hello!

I am currently trying to create synthetic pointclouds to train a 3d object detection model. We have seen that the real world sensor has always the same number of points (missing points are in the origin of the sensor). Now, we are curious how this can be achieved in Isaac Sim with the rtx lidar sensor?

Should it be as default or is there something to configure for that behavior?

Thank you in advance!

Best regards,
Christof

2

Okay, I got it to work.

For those who are interested:

Isaac Compute RTX Lidar Point Cloud Node — Omniverse Extensions latest documentation ->mentions the parameter “keepOnlyPositiveDistance” which is set by default to True (why???), just set it to false and you get the number of points as expected.

Best regards,
Christof

3

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