GXF Camera Helper

This node handles automation of the camera sensor pipeline and publishing

Installation

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

Inputs

Name

Type

Description

Default

execIn

execution

Triggering this causes the sensor pipeline to be generated

context

uint64

GXF context handle, Default of zero will use the default global context

0

outputEntity

string

The name of the entity used to publish data

outputComponent

string

The name of the component used to publish data

poseFrame

string

FrameId for Atlas

robot/camera_left_gt

viewport

token

DEPRECATED, use renderProductPath. Name of the desired viewport to publish

renderProductPath

token

Path of the render product used for capturing data

type

token

Type of camera data to be streamed

rgb

stereoOffset

float[3]

Stereo offset (Tx, Ty, Tz) used for the camera extrinsics field

[0.0, 0.0, 0.0]

Outputs

Name

Type

Description

Default

execOut

execution

Output execution trigger