SemanticSegmentation

This node outputs the semantic segmentation.

Installation

To use this Node, you must enable omni.replicator.core in the Extension Manager.

Inputs

Name

Type

Description

Default

exec

execution

Trigger

numSemantics

uint

Number of semantic entities in the semantic arrays

colorize

bool

If true, convert semantic IDs into colors.

False

numInstances

uint

Number of instances in the instance arrays

instancePrimPathPtr

uint64

Array pointer of numInstances uint64_t containing the prim path tokens for every instance prims

semanticPrimPathPtr

uint64

Array pointer of numSemantics uint32_t containing the prim part of the prim path tokens for every semantic prims

semanticLabelTokenPtrs

uint64[]

Array containing for every input semantic filters the corresponding array pointer of numSemantics uint64_t representing the semantic label of the semantic prim

sdIMSemanticTokenMap

token[]

Semantic array of token of size numSemantics ‘*’ numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types

instanceMapPtr

uint64

Array pointer of numInstances uint16_t containing the semantic index of the instance prim first semantic prim parent

minInstanceIndex

uint

Instance id of the first instance in the instance arrays

minSemanticIndex

uint

Semantic id of the first instance in the instance arrays

semanticMapPtr

uint64

Array pointer of numSemantics uint16_t containing the semantic index of the semantic prim first semantic prim parent

data

uchar[]

Buffer array data

[]

bufferSize

uint

Size (in bytes) of the buffer (0 if the input is a texture)

swhFrameNumber

uint64

Frame number

semanticTypes

token[]

Semantic Types to consider

[‘class’]

width

uint

Width

height

uint

Height

Outputs

Name

Type

Description

Default

exec

execution

Trigger

data

uchar[]

Semantic segmentation data

[]

idToLabels

string

Mapping from id (or color, if colorize is set to True) to semantic labels.

swhFrameNumber

uint64

Frame number

bufferSize

uint

Size (in bytes) of the buffer (0 if the input is a texture)

height

uint

Shape of the data

width

uint

Shape of the data

_uniqueInstanceIDs

uchar[]

Internal buffer storing unique instance IDs