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)

uint

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

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[]

Rotation of the desired camera frame from the default camera frame, as XYZ Euler angles

[]

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]]

Data (inputs:data)

uchar[]

Buffer array data

[]

Exec (inputs:exec)

execution

Trigger

None

Get Centers (inputs:getCenters)

bool

Set to True if producing center coordinates of every semantic entity projected in the image space

False

Image Height (inputs:imageHeight)

uint

Height of the viewport

0

Image Width (inputs:imageWidth)

uint

Width of the viewport

0

Include Occluded Prims (inputs:includeOccludedPrims)

bool

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)

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

[]

Sd IM Semantic World Transform (inputs:sdIMSemanticWorldTransform)

float[]

Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity

[]

Semantic Types (inputs:semanticTypes)

token[]

Semantic Types to consider

[‘class’]

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

Prim Paths (outputs:primPaths)

token[]

Prim paths corresponding to each pose.

None

Width (outputs:width)

uint

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