RTX Lidar PointCloud 3D: How to set a custom intensity on objects? Changing the material properties have no effect

Omniverse Isaac Sim
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1

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:

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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.

2 Likes
2

I’m also interested in this topic and would love to learn more about setting different intensities for objects in Lidar simulations. Have there been any updates or solutions since your post?

3

Hi, I’m facing a similar problem where I have a Lidar simulation and different materials. The different intensities on the materials are not simulated. Why is the documentation still the same?

5

Thanks for bringing this issue up. Let me pass this to our internal team.

1 Like
7

Any updates on this topic?

8

@zhengwang, are there any updates on this topic? The post is from 6 months ago.
Thanks!

9

Currently no further updates from the internal team. I will update here once there is any updates.

10

Hey @benjamin.yde,
Are you using the configurations of sensor materials commented here? link

11

Hi all! Our internal team has added new APIs, unit tests, examples, and documentation to Isaac Sim demonstrating how to set non-visual material properties and get expected material ID and intensity in the RTX Lidar pointcloud. Please check out on latest 5.1.0 OSS on github. Thanks for your patience.

I will close this ticket for now. Please feel free to open a new one if you encounter any issues