lidar-scan-rate-minimum

Code	LI.003
Tags	✅

Summary

The omni:sensor:Core:scanRateBaseHz attribute on an OmniLidar prim must be at least 0.466 Hz.

Description

The OmniLidar runtime stores per-point time offsets in the GenericModelOutput buffer as signed 32-bit nanosecond integers. One scan cycle at a rate of f Hz takes 1/f seconds = 1e9/f nanoseconds. The maximum value of a signed 32-bit integer is 2,147,483,647 ns (~2.147 seconds). At scan rates below 0.466 Hz the nanosecond duration of one scan cycle exceeds this limit, causing integer overflow in the timeOffsetNs output field.

The minimum supported scan rate is 0.466 Hz, as enforced by LidarCoreSensorCheckerImpl::validateElementDataType in the RTX sensor plugin.

Why is it required?

A scan rate below 0.466 Hz causes timeOffsetNs values in the point cloud to overflow, corrupting timing data. Catching this at asset validation time prevents a misconfigured sensor from producing silently incorrect simulation output.

Examples

# Valid: 10 Hz scan rate (well above minimum)
def OmniLidar "Lidar" (
    prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"]
)
{
    uint omni:sensor:Core:scanRateBaseHz = 10
    token omni:sensor:Core:scanType = "ROTARY"
}

# Invalid: 0.1 Hz is below the 0.466 Hz minimum
def OmniLidar "Lidar" (
    prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"]
)
{
    float omni:sensor:Core:scanRateBaseHz = 0.1
    token omni:sensor:Core:scanType = "ROTARY"
}

How to comply

Set omni:sensor:Core:scanRateBaseHz to a value of 0.466 or greater. Typical LiDAR scan rates are 5–25 Hz, well above this threshold. A value of 0 is also invalid; omit the attribute entirely if the scan rate is not applicable to the sensor configuration.