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) |
|
3d bounding box data. |
[] |
Camera Fisheye Max FOV (inputs:cameraFisheyeMaxFOV) |
|
Camera fisheye maximum field of view |
0.0 |
Camera Fisheye Nominal Height (inputs:cameraFisheyeNominalHeight) |
|
Camera fisheye nominal height |
0 |
Camera Fisheye Nominal Width (inputs:cameraFisheyeNominalWidth) |
|
Camera fisheye nominal width |
0 |
Camera Fisheye Optical Centre (inputs:cameraFisheyeOpticalCentre) |
|
Camera fisheye optical centre |
[0.0, 0.0] |
Camera Fisheye Polynomial (inputs:cameraFisheyePolynomial) |
|
Camera fisheye polynomial |
[] |
Camera Model (inputs:cameraModel) |
|
Camera model (pinhole or fisheye models) |
|
Camera Near Far (inputs:cameraNearFar) |
|
Camera near/far clipping range |
[0.0, 0.0] |
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) |
|
Camera rotation in euler angles |
[0.0, 0.0, 0.0] |
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]] |
Exec (inputs:exec) |
|
Trigger |
None |
Focal Length (inputs:focalLength) |
|
Camera fisheye maximum field of view |
0.0 |
Height (inputs:height) |
|
Height of the viewport |
0 |
Horizontal Aperture (inputs:horizontalAperture) |
|
Horizontal aperture of camera |
0.0 |
Occlusion (inputs:occlusion) |
|
Occlusion data |
[] |
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 |
[] |
Semantic Types (inputs:semanticTypes) |
|
Semantic Types to consider |
[‘class’] |
Width (inputs:width) |
|
Width of the viewport |
0 |
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 |
Width (outputs:width) |
|
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 |