Dope

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

Installation

To use this Node, you must enable omni.replicator.isaac in the Extension Manager.

Inputs

Name

Type

Description

Default

exec

execution

Trigger

cameraModel

token

Camera model (pinhole or fisheye models)

cameraViewTransform

matrixd[4]

Camera view matrix

cameraProjection

matrixd[4]

Camera projection matrix

cameraFisheyeNominalWidth

int

Camera fisheye nominal width

cameraFisheyeNominalHeight

int

Camera fisheye nominal height

cameraFisheyeOpticalCentre

float[2]

Camera fisheye optical centre

cameraFisheyeMaxFOV

float

Camera fisheye maximum field of view

cameraFisheyePolynomial

float[]

Camera fisheye polynomial

cameraNearFar

float[2]

Camera near/far clipping range

horizontalAperture

float

Horizontal aperture of camera

focalLength

float

Camera fisheye maximum field of view

cameraRotation

float[3]

Camera rotation in euler angles

width

uint

Width of the viewport

height

uint

Height of the viewport

boundingBox3d

uchar[]

3d bounding box data.

occlusion

uchar[]

Occlusion data

swhFrameNumber

uint64

Frame number

sdIMNumSemantics

uint

Number of semantic entities in the semantic arrays

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

sdIMInstanceSemanticMap

uchar[]

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

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

sdIMMinSemanticIndex

uint

Semantic id of the first instance in the instance arrays

sdIMMaxSemanticHierarchyDepth

uint

Maximal number of semantic entities inherited by an instance

semanticTypes

token[]

Semantic Types to consider

[‘class’]

Outputs

Name

Type

Description

Default

exec

execution

Trigger

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

idToLabels

string

Mapping from id to semantic labels.

swhFrameNumber

uint64

Frame number

bufferSize

uint

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

height

uint

Shape of the data

width

uint

Shape of the data