Dope#

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

Installation#

To use this node enable isaacsim.replicator.writers 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

isaacsim.replicator.writers.Dope

Version

1

Extension

isaacsim.replicator.writers

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Dope

Generated Class Name

OgnDopeDatabase

Python Module

isaacsim.replicator.writers