Isaac Sim Version
4.2.0
Operating System
Ubuntu 24.04
Ubuntu 22.04
GPU Information
- Model: NVIDIA GeForce RTX 4070 Ti
- Driver Version: 560.35.03
- CUDA Version: 12.6
Topic Description
1. Getting the pointcloud data (position XYZ + intensity), works
Based on the RtxSensorCpuIsaacComputeRTXLidarPointCloud info:
Image from here
See the following implementation on how to get the intensity data (based on the LidarRtx in omni.isaac.sensor):
self._point_cloud_annotator = rep.AnnotatorRegistry.get_annotator("RtxSensorCpu" + "IsaacComputeRTXLidarPointCloud")
self._point_cloud_annotator.attach([self._render_product_path])
ptcloud_data = self._point_cloud_annotator.get_data()
self.points = ptcloud_data["data"]
self.range = ptcloud_data["info"]["range"]
self.intensity = ptcloud_data["info"]["intensity"]
2. Creating a ROS2 message and sending the data (position & intensity), works
In another piece of code I forward the data by publishing it via ROS in a pointcloud2 message.
3. Set a custom intensity on an object
The problem is that I want to have 2 objects with different intensities. The logical way would be by using a different material and changing its albedo, metal, roughness, etc., but this has no effect on the intensity?
There is no documentation, demo’s, example scripts, video’s, tests, pictures, etc. that illustrate how to use this, so it is hard for me to know what the problem is.