SdInstanceMapping

Synthetic Data node to expose the scene instances semantic hierarchy information

Installation

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

Inputs

Name

Type

Description

Default

exec

execution

Trigger

renderResults

uint64

Render results pointer

lazy

bool

Compute outputs only when connected to a downstream node

True

Outputs

Name

Type

Description

Default

Received (exec)

execution

Executes when the event is received

sdIMNumInstances

uint

Number of instances in the instance arrays

sdIMMinInstanceIndex

uint

Instance id of the first instance in the instance arrays

sdIMInstanceTokens

token[]

Instance array containing the token for every instances

sdIMNumSemantics

uint

Number of semantic entities in the semantic arrays

sdIMMinSemanticIndex

uint

Semantic id of the first semantic entity in the semantic arrays

sdIMSemanticLocalTransform

float[]

Semantic array of 4x4 float matrices containing the transform from world to local space for every semantic entity

sdIMSemanticWorldTransform

float[]

Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity

sdIMNumSemanticTokens

uint

Number of semantics token including the semantic entity path, the semantic entity types and if the number of semantic types is greater than one a

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

sdIMMaxSemanticHierarchyDepth

uint

Maximal number of semantic entities inherited by an instance

sdIMInstanceSemanticMap

uchar[]

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