Pose
This node outputs the poses of assets with semantic labels
Installation
To use this node enable omni.replicator.isaac in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Buffer Size (inputs:bufferSize) |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
0 |
Camera Projection (inputs:cameraProjection) |
|
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) |
|
Rotation of the desired camera frame from the default camera frame, as XYZ Euler angles |
[] |
Camera View Transform (inputs:cameraViewTransform) |
|
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]] |
Data (inputs:data) |
|
Buffer array data |
[] |
Exec (inputs:exec) |
|
Trigger |
None |
Get Centers (inputs:getCenters) |
|
Set to True if producing center coordinates of every semantic entity projected in the image space |
False |
Image Height (inputs:imageHeight) |
|
Height of the viewport |
0 |
Image Width (inputs:imageWidth) |
|
Width of the viewport |
0 |
Include Occluded Prims (inputs:includeOccludedPrims) |
|
Set to True if poses (and if enabled, centers) of fully occluded/out-of-frame semantic entities should be output |
False |
Sd IM Instance Semantic Map (inputs:sdIMInstanceSemanticMap) |
|
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) |
|
Maximal number of semantic entities inherited by an instance |
0 |
Sd IM Min Semantic Index (inputs:sdIMMinSemanticIndex) |
|
Semantic id of the first instance in the instance arrays |
0 |
Sd IM Num Semantic Tokens (inputs: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 |
0 |
Sd IM Num Semantics (inputs:sdIMNumSemantics) |
|
Number of semantic entities in the semantic arrays |
0 |
Sd IM Semantic Token Map (inputs:sdIMSemanticTokenMap) |
|
Semantic array of token of size numSemantics * numSemanticTypes containing the mapping from the semantic entities to the semantic entity path and semantic types |
[] |
Sd IM Semantic World Transform (inputs:sdIMSemanticWorldTransform) |
|
Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity |
[] |
Semantic Types (inputs:semanticTypes) |
|
Semantic Types to consider |
[‘class’] |
Outputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Buffer Size (outputs:bufferSize) |
|
Size (in bytes) of the buffer (0 if the input is a texture) |
None |
Data (outputs:data) |
|
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) |
|
Trigger |
None |
Height (outputs:height) |
|
Shape of the data |
None |
Id To Labels (outputs:idToLabels) |
|
Mapping from id to semantic labels. |
None |
Prim Paths (outputs:primPaths) |
|
Prim paths corresponding to each pose. |
None |
Width (outputs:width) |
|
Shape of the data |
None |
Metadata
Name |
Value |
---|---|
Unique ID |
omni.replicator.isaac.Pose |
Version |
1 |
Extension |
omni.replicator.isaac |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Pose |
Generated Class Name |
OgnPoseDatabase |
Python Module |
omni.replicator.isaac |