Get Skeleton Data

This node retrieves skeleton data given skeleton prims and camera paramters

Installation

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

Inputs

Name

Type

Description

Default

prims

token[]

list of skeleton prim paths

exec

execution

exec

cameraModel

token

Camera model (pinhole or fisheye models)

cameraViewTransform

matrixd[4]

Camera view matrix

cameraProjection

matrixd[4]

Camera projection matrix

cameraFocalLength

float

Camera focal length

cameraAperture

float[2]

Camera horizontal and vertical aperture

cameraFisheyeNominalWidth

int

Camera fisheye nominal width

cameraFisheyeNominalHeight

int

Camera fisheye nominal height

cameraFisheyeOpticalCentre

float[2]

Camera fisheye optical centre

cameraFisheyeMaxFOV

float

Camera fisheye maximum field of view

cameraFisheyePolynomial

float[]

Camera fisheye polynomial

cameraNearFar

float[2]

Camera near/far clipping range

renderProductPath

token

Path of the render product to use for 2d projections

useSkelJoints

bool

Get skeleton joint information using the skelJoints information

instanceData

uchar[]

Instance segmentation data

[]

idToSemantics

string

Mapping from id to semantic labels.

Outputs

Name

Type

Description

Default

exec

execution

exec

skeletonData

string

Skeleton Data

{}

numSkeletons

int

The number of skeletons in output data.

skeletonParents

int[]

The ID of all the skeleton joints.

skeletonParentsSizes

int[]

The size of each skeleton skeletonParents array.

restGlobalTranslations

float[3][]

The rest skeleton joint translations in global space.

restGlobalTranslationsSizes

int[]

The size of each skeleton restGlobalTranslations array.

restLocalRotations

float[4][]

The rest skeleton joint rotations in local space.

restLocalRotationsSizes

int[]

The size of each skeleton restLocalRotations array.

restLocalTranslations

float[3][]

The rest skeleton joint translations in local space.

restLocalTranslationsSizes

int[]

The size of each skeleton restLocalTranslations array.

skelName

token[]

The skeleton name.

skelPath

token[]

The USD stage path to the skeleton.

assetPath

token[]

The referenced asset path.

animationVariant

token[]

The name of the animation variant assigned.

globalTranslations

float[3][]

The skeleton joint translations in global space.

globalTranslationsSizes

int[]

The size of each skeleton globalTranslations array.

localRotations

float[4][]

The skeleton joint rotations in local space.

localRotationsSizes

int[]

The size of each skeleton localRotations array.

skeletonJoints

token[]

The paths of all the skeleton joints.

translations2d

float[2][]

The 2D projected skeleton joint positions.

translations2dSizes

int[]

The size of each skeleton translations2d array.

jointOcclusions

bool[]

Whether the joint is occluded.

jointOcclusionsSizes

int[]

The size of each skeleton jointOcclusions array.

occlusionTypes

token[]

The semantic name of the object occluding the joint.

occlusionTypesSizes

int[]

The size of each skeleton occlusionTypes array.

inView

bool[]

Whether the skeleton is in the camera view.