Sd Post Semantic3d Bounding Box Camera Projection#

Synthetic Data node to project 3d bounding boxes data in camera space.

Installation#

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

Name	Type	Descripton	Default
Camera Fisheye Params (inputs:cameraFisheyeParams)	`float[]`	Camera fisheye projection parameters	[]
Camera Model (inputs:cameraModel)	`int`	Camera model (pinhole or fisheye models)	0
Camera Near Far (inputs:cameraNearFar)	`float[2]`	Camera near/far clipping range	[1.0, 10000000.0]
Exec (inputs:exec)	`execution`	Trigger	None
gpuFoundations (inputs:gpu)	`uint64`	Pointer to shared context containing gpu foundations	0
Instance Mapping Info SD Ptr (inputs:instanceMappingInfoSDPtr)	`uint64`	uint buffer pointer containing the following information : [numInstances, minInstanceId, numSemantics, minSemanticId, numProtoSemantic]	0
Meters Per Scene Unit (inputs:metersPerSceneUnit)	`float`	Scene units to meters scale	0.01
Render Product Resolution (inputs:renderProductResolution)	`int[2]`	RenderProduct resolution	[65536, 65536]
renderProduct (inputs:rp)	`uint64`	Pointer to render product for this view	0
Sd Sem B Box Extent Cuda Ptr (inputs:sdSemBBoxExtentCudaPtr)	`uint64`	Cuda buffer containing the extent of the bounding boxes as a float4=(u_min,v_min,u_max,v_max) for 2D or a float6=(xmin,ymin,zmin,xmax,ymax,zmax) in object space for 3D	0
Sd Sem B Box Infos Cuda Ptr (inputs:sdSemBBoxInfosCudaPtr)	`uint64`	Cuda buffer containing valid bounding boxes infos	0
Semantic World Transform SD Cuda Ptr (inputs:semanticWorldTransformSDCudaPtr)	`uint64`	cuda float44 buffer pointer of size numSemantics containing the world semantic transform	0

Name	Type	Descripton	Default
Exec (outputs:exec)	`execution`	Trigger	None
Sd Sem B Box3d Cam Corners Cuda Ptr (outputs:sdSemBBox3dCamCornersCudaPtr)	`uint64`	Cuda buffer containing the projection of the 3d bounding boxes on the camera plane represented as a float4=(u,v,z,a) for each bounding box corners	None
Sd Sem B Box3d Cam Extent Cuda Ptr (outputs:sdSemBBox3dCamExtentCudaPtr)	`uint64`	Cuda buffer containing the 2d extent of the 3d bounding boxes on the camera plane represented as a float6=(u_min,u_max,v_min,v_max,z_min,z_max)	None

Name	Value
Unique ID	omni.syntheticdata.SdPostSemantic3dBoundingBoxCameraProjection
Version	1
Extension	omni.syntheticdata
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
__tokens	[“SemanticBoundingBox3DInfosSD”, “SemanticBoundingBox3DCamCornersSD”, “SemanticBoundingBox3DCamExtentSD”]
Categories	graph:postRender,rendering
Generated Class Name	OgnSdPostSemantic3dBoundingBoxCameraProjectionDatabase
Python Module	omni.syntheticdata