Cesium 3D Tiles with RTX Lidar in Isaac Sim

[onish-ai]

I am looking to use an RTX Lidar in Isaac Sim to measure the distance to the ground. In this case, the ground is the Cesium 3D Tileset, however what I’m unsure about is which point on the tile will the ray from the Lidar bounce off of. As a result of this, I am unsure as to whether I need to apply an offset to my measurements.

I would appreciate if anybody knew more about this.

[ryan_veenstra]

@onish-ai

am looking to use an RTX Lidar in Isaac Sim to measure the distance to the ground. In this case, the ground is the Cesium 3D Tileset, however what I’m unsure about is which point on the tile will the ray from the Lidar bounce off of. As a result of this, I am unsure as to whether I need to apply an offset to my measurements.

I would appreciate if anybody knew more about this.

Hi @onish-ai,

Currently 3D Tiles do not support physics due to some limitations of the systems we’re using to render. I believe some LiDAR in Isaac Sim works based on physics and I would assume they won’t work.

However, I do know the RTX LiDAR sensors work as these operate from the GPU. In this case, the LiDAR should bounce off the rendered surface, so whatever is loaded / visible.