Dope

Gets poses of assets as required by ground truth file for DOPE training

Installation

To use this node enable omni.replicator.isaac in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Bounding Box3d (inputs:boundingBox3d)

uchar[]

3d bounding box data.

[]

Camera Fisheye Max FOV (inputs:cameraFisheyeMaxFOV)

float

Camera fisheye maximum field of view

0.0

Camera Fisheye Nominal Height (inputs:cameraFisheyeNominalHeight)

int

Camera fisheye nominal height

0

Camera Fisheye Nominal Width (inputs:cameraFisheyeNominalWidth)

int

Camera fisheye nominal width

0

Camera Fisheye Optical Centre (inputs:cameraFisheyeOpticalCentre)

float[2]

Camera fisheye optical centre

[0.0, 0.0]

Camera Fisheye Polynomial (inputs:cameraFisheyePolynomial)

float[]

Camera fisheye polynomial

[]

Camera Model (inputs:cameraModel)

token

Camera model (pinhole or fisheye models)

Camera Near Far (inputs:cameraNearFar)

float[2]

Camera near/far clipping range

[0.0, 0.0]

Camera Projection (inputs:cameraProjection)

matrixd[4]

Camera projection matrix

[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]

Camera Rotation (inputs:cameraRotation)

float[3]

Camera rotation in euler angles

[0.0, 0.0, 0.0]

Camera View Transform (inputs:cameraViewTransform)

matrixd[4]

Camera view matrix

[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]

Exec (inputs:exec)

execution

Trigger

None

Focal Length (inputs:focalLength)

float

Camera fisheye maximum field of view

0.0

Height (inputs:height)

uint

Height of the viewport

0

Horizontal Aperture (inputs:horizontalAperture)

float

Horizontal aperture of camera

0.0

Occlusion (inputs:occlusion)

uchar[]

Occlusion data

[]

Sd IM Instance Semantic Map (inputs:sdIMInstanceSemanticMap)

uchar[]

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

[]

Sd IM Max Semantic Hierarchy Depth (inputs:sdIMMaxSemanticHierarchyDepth)

uint

Maximal number of semantic entities inherited by an instance

0

Sd IM Min Semantic Index (inputs:sdIMMinSemanticIndex)

uint

Semantic id of the first instance in the instance arrays

0

Sd IM Num Semantic Tokens (inputs: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

0

Sd IM Num Semantics (inputs:sdIMNumSemantics)

uint

Number of semantic entities in the semantic arrays

0

Sd IM Semantic Token Map (inputs: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

[]

Semantic Types (inputs:semanticTypes)

token[]

Semantic Types to consider

[‘class’]

Width (inputs:width)

uint

Width of the viewport

0

Outputs

Name

Type

Descripton

Default

Buffer Size (outputs:bufferSize)

uint

Size (in bytes) of the buffer (0 if the input is a texture)

None

Data (outputs:data)

uchar[]

Semantic array of 4x4 float matrices containing the transform from local to view space for every semantic entity. Additionally, an optional semantic array of float[2] vectors containing the center coordinates of every semantic entity projected in the image space

None

Exec (outputs:exec)

execution

Trigger

None

Height (outputs:height)

uint

Shape of the data

None

Id To Labels (outputs:idToLabels)

string

Mapping from id to semantic labels.

None

Width (outputs:width)

uint

Shape of the data

None

Metadata

Name

Value

Unique ID

omni.replicator.isaac.Dope

Version

1

Extension

omni.replicator.isaac

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Dope

Generated Class Name

OgnDopeDatabase

Python Module

omni.replicator.isaac