Get Pointcloud Python

This node generates pointcloud from rgb, normals, distance_to_camera and semantic sgementations.

Installation

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

Inputs

Name	Type	Description	Default
normals	uchar[]	Buffer array normals data	[]
rgb	uchar[]	Buffer array rgb data	[]
camera3dPosition	uchar[]	Buffer array camera 3d data	[]
cameraViewTransform	matrixd[4]	Camera view matrix
semanticSegmentation	uchar[]	Semantic segmentation data	[]
includeUnlabelled	bool	If set to true, prim with no semantics will also be in output	False
width	uint	Width
height	uint	Height
exec	execution	Trigger
bufferSize	uint	Size (in bytes) of the buffer (0 if the input is a texture)
swhFrameNumber	uint64	Frame number

Outputs

Name	Type	Description	Default
data	float[]	Buffer array pointcloud data	[]
pointRgb	uchar[]	Buffer array of rgb of each point data	[]
pointNormals	float[]	Buffer array or normals of pointcloud data	[]
pointSemantic	uchar[]	Buffer array or normals of pointcloud data	[]
exec	execution	Trigger
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