FreespaceCompute
Writes the output buffer of the IDS sensor
Installation
To use this Node, you must enable omni.drivesim.datastudio.freespace
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
exec |
|
Execution In |
|
pointCloud |
|
Point cloud |
|
semanticData |
|
Semantic data |
|
instanceData |
|
Instance data |
|
linearDistances |
|
Linear distances |
|
sensorDims |
|
Sensor dimensions widthxheight |
|
sensorOrigin |
|
Sensor origin |
|
freespaceSemantics |
|
Prim paths corresponding to each bounding box. |
[‘road’, ‘road_mark’] |
numSemantics |
|
Number of semantic entities in the semantic arrays |
|
semanticMapPtr |
|
Array pointer of numSemantics uint16_t containing the semantic index of the semantic prim first semantic prim parent |
|
instanceMapPtr |
|
Array pointer of numInstances uint16_t containing the instance index of the semantic prim first semantic prim parent |
|
numInstances |
|
Number of instances in the instance arrays |
|
primPaths |
|
Prim paths corresponding to each bounding box. |
|
sdIMSemanticTokenMap |
|
Semantic array of token of size numSemantics ‘*’ numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types |
|
sdIMInstanceSemanticMap |
|
Raw array of uint16_t of size sdIMNumInstances’*’sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities |
|
minInstanceIndex |
|
Instance id of the first instance in the instance arrays |
|
minSemanticIndex |
|
Semantic id of the first instance in the instance arrays |
|
data |
|
Buffer array data |
[] |
sdIMMinInstanceIndex |
|
Instance id of the first instance in the instance arrays |
|
sdIMInstanceTokens |
|
Instance array containing the token for every instances |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
frame_id |
|
Frame id |
|
freespace_sensor_dims |
|
Width and height of the ids sensor. |
|
freespace_labels |
|
Point label |
|
freespace_polyline |
|
3D freespace points |
|
freespace_screen_pos |
|
2D screen freespace points |
|
data |
|
Buffer array rgb data |
[] |
_uniqueInstanceIDs |
|
Internal buffer storing unique instance IDs |
|
exec |
|
Execution Out |