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 |
|
Trigger |
|
renderResults |
|
Render results pointer |
|
lazy |
|
Compute outputs only when connected to a downstream node |
True |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
Received (exec) |
|
Executes when the event is received |
|
sdIMNumInstances |
|
Number of instances in the instance arrays |
|
sdIMMinInstanceIndex |
|
Instance id of the first instance in the instance arrays |
|
sdIMInstanceTokens |
|
Instance array containing the token for every instances |
|
sdIMNumSemantics |
|
Number of semantic entities in the semantic arrays |
|
sdIMMinSemanticIndex |
|
Semantic id of the first semantic entity in the semantic arrays |
|
sdIMSemanticLocalTransform |
|
Semantic array of 4x4 float matrices containing the transform from world to local space for every semantic entity |
|
sdIMSemanticWorldTransform |
|
Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity |
|
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 a |
|
sdIMSemanticTokenMap |
|
Semantic array of token of size numSemantics ‘*’ numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types |
|
sdIMMaxSemanticHierarchyDepth |
|
Maximal number of semantic entities inherited by an instance |
|
sdIMInstanceSemanticMap |
|
Raw array of uint16_t of size sdIMNumInstances’*’sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities |