RTX Lidar Sensor output of normals all zeros

Omniverse Isaac Sim
1

Hello Isaac Sim Community,

i am using an RTX Lidar Sensor in Isaac Sim to generate Synthetic Data. I built a custom writer for this and everything works fine, except the output data of (hit point) normals. I am using the “RtxSensorCpuIsaacCreateRTXLidarScanBuffer” annotator and when i am initializing it i am enabling output of normals.

annotator = rep.AnnotatorRegistry.get_annotator(ANNOTATOR)
annotator.initialize(transformPoints=True, outputObjectId=True, outputNormal=True, outputMaterialId=True)
self.annotators.append(annotator)

when i then want to access the data i only get an array of shape (n, 3) of zeros.

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image1887×480 38.7 KB

Here is the code i use to access the LiDAR data:

avail_keys = data.get(ANNOTATOR).keys()
carb.log_info(f"Scan keys {avail_keys}")


scan_points = data.get(ANNOTATOR).get("data")
carb.log_info(f"Scan points {scan_points.shape}, {scan_points.dtype} {scan_points}") 

scan_distances = data.get(ANNOTATOR).get("distance")
carb.log_info(f"Scan distance {scan_distances.shape}, {scan_distances.dtype} {scan_distances}") 

scan_normals = data.get(ANNOTATOR).get("normal")
carb.log_info(f"Scan normals {scan_normals.shape}, {scan_normals.dtype} {scan_normals}")

does someone know what i am doing wrong? Help would be much appreciated
Best Regards

1 Like
3

For everyone who may have the same problem some day, i got an answer from an /u/adevalla:

Hi Valentin,

Can you try setting --/app/sensors/nv/lidar/publishNormals=true when running Isaac Sim? I think by default the RTX Lidar model does not publish the normals.

Thanks,
Avinash

4

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