Sd Instance Mapping

Synthetic Data node to expose the scene instances semantic hierarchy information

Installation

To use this node enable omni.syntheticdata in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Exec (inputs:exec)	execution	Trigger	None
Lazy (inputs:lazy)	bool	Compute outputs only when connected to a downstream node	True
Render Results (inputs:renderResults)	uint64	Render results pointer	0

Outputs

Name	Type	Descripton	Default
Received (outputs:exec)	execution	Executes when the event is received	None
Sd IM Instance Semantic Map (outputs:sdIMInstanceSemanticMap)	uchar[]	Raw array of uint16_t of size sdIMNumInstances*sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities	None
Sd IM Instance Tokens (outputs:sdIMInstanceTokens)	token[]	Instance array containing the token for every instances	None
Sd IM Last Update Time Denominator (outputs:sdIMLastUpdateTimeDenominator)	uint64	Time denominator of the last time the data has changed	None
Sd IM Last Update Time Numerator (outputs:sdIMLastUpdateTimeNumerator)	int64	Time numerator of the last time the data has changed	None
Sd IM Max Semantic Hierarchy Depth (outputs:sdIMMaxSemanticHierarchyDepth)	uint	Maximal number of semantic entities inherited by an instance	None
Sd IM Min Instance Index (outputs:sdIMMinInstanceIndex)	uint	Instance id of the first instance in the instance arrays	None
Sd IM Min Semantic Index (outputs:sdIMMinSemanticIndex)	uint	Semantic id of the first semantic entity in the semantic arrays	None
Sd IM Num Instances (outputs:sdIMNumInstances)	uint	Number of instances in the instance arrays	None
Sd IM Num Semantic Tokens (outputs: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	None
Sd IM Num Semantics (outputs:sdIMNumSemantics)	uint	Number of semantic entities in the semantic arrays	None
Sd IM Semantic Local Transform (outputs:sdIMSemanticLocalTransform)	float[]	Semantic array of 4x4 float matrices containing the transform from world to local space for every semantic entity	None
Sd IM Semantic Token Map (outputs: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	None
Sd IM Semantic World Transform (outputs:sdIMSemanticWorldTransform)	float[]	Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity	None

Metadata

Name	Value
Unique ID	omni.syntheticdata.SdInstanceMapping
Version	2
Extension	omni.syntheticdata
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
__tokens	[“InstanceMappingInfoSDhost”, “InstanceMapSDhost”, “SemanticLabelTokenSDhost”, “InstancePrimTokenSDhost”, “SemanticLocalTransformSDhost”, “SemanticWorldTransformSDhost”]
Categories	graph:action
Generated Class Name	OgnSdInstanceMappingDatabase
Python Module	omni.syntheticdata