Pose
This node outputs the poses of assets with semantic labels
Installation
To use this Node, you must enable omni.replicator.isaac
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
exec |
|
Trigger |
|
includeOccludedPrims |
|
Set to True if poses (and if enabled, centers) of fully occluded/out-of-frame semantic entities should be output |
|
getCenters |
|
Set to True if producing center coordinates of every semantic entity projected in the image space |
|
cameraRotation |
|
Rotation of the desired camera frame from the default camera frame, as XYZ Euler angles |
|
imageWidth |
|
Width of the viewport |
|
imageHeight |
|
Height of the viewport |
|
cameraViewTransform |
|
Camera view matrix |
|
cameraProjection |
|
Camera projection matrix |
|
sdIMNumSemantics |
|
Number of semantic entities in the semantic arrays |
|
sdIMNumSemanticTokens |
|
Number of semantics token including the semantic entity path, the semantic entity types and if the number of semantic types is greater than one |
|
sdIMInstanceSemanticMap |
|
Raw array of uint16_t of size sdIMNumInstances’*’sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities |
|
sdIMSemanticTokenMap |
|
Semantic array of token of size numSemantics ‘*’ numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types |
|
sdIMMinSemanticIndex |
|
Semantic id of the first instance in the instance arrays |
|
sdIMMaxSemanticHierarchyDepth |
|
Maximal number of semantic entities inherited by an instance |
|
sdIMSemanticWorldTransform |
|
Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity |
|
data |
|
Buffer array data |
[] |
bufferSize |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
|
swhFrameNumber |
|
Frame number |
|
semanticTypes |
|
Semantic Types to consider |
[‘class’] |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
exec |
|
Trigger |
|
data |
|
Semantic array of 4x4 float matrices containing the transform from local to view space for every semantic entity. Additionally, an optional semantic array of float[2] vectors containing the center coordinates of every semantic entity projected in the image space |
|
idToLabels |
|
Mapping from id to semantic labels. |
|
primPaths |
|
Prim paths corresponding to each pose. |
|
swhFrameNumber |
|
Frame number |
|
bufferSize |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
|
height |
|
Shape of the data |
|
width |
|
Shape of the data |