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

Execution In

pointCloud

float[]

Point cloud

semanticData

uint[]

Semantic data

instanceData

uint[]

Instance data

linearDistances

float[]

Linear distances

sensorDims

uint[]

Sensor dimensions widthxheight

sensorOrigin

float[]

Sensor origin

freespaceSemantics

token[]

Prim paths corresponding to each bounding box.

[‘road’, ‘road_mark’]

numSemantics

uint

Number of semantic entities in the semantic arrays

semanticMapPtr

uint64

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

instanceMapPtr

uint64

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

numInstances

uint

Number of instances in the instance arrays

primPaths

token[]

Prim paths corresponding to each bounding box.

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

sdIMInstanceSemanticMap

uchar[]

Raw array of uint16_t of size sdIMNumInstances’*’sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities

minInstanceIndex

uint

Instance id of the first instance in the instance arrays

minSemanticIndex

uint

Semantic id of the first instance in the instance arrays

data

uchar[]

Buffer array data

[]

sdIMMinInstanceIndex

uint

Instance id of the first instance in the instance arrays

sdIMInstanceTokens

token[]

Instance array containing the token for every instances

Outputs

Name

Type

Description

Default

frame_id

uint

Frame id

freespace_sensor_dims

uint[]

Width and height of the ids sensor.

freespace_labels

token[]

Point label

freespace_polyline

float[]

3D freespace points

freespace_screen_pos

int[]

2D screen freespace points

data

uchar[]

Buffer array rgb data

[]

_uniqueInstanceIDs

uchar[]

Internal buffer storing unique instance IDs

exec

execution

Execution Out