Pose

This node outputs the poses of assets with semantic labels

Installation

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

Inputs

Name	Type	Description	Default
exec	execution	Trigger
includeOccludedPrims	bool	Set to True if poses (and if enabled, centers) of fully occluded/out-of-frame semantic entities should be output
getCenters	bool	Set to True if producing center coordinates of every semantic entity projected in the image space
cameraRotation	float[]	Rotation of the desired camera frame from the default camera frame, as XYZ Euler angles
imageWidth	uint	Width of the viewport
imageHeight	uint	Height of the viewport
cameraViewTransform	matrixd[4]	Camera view matrix
cameraProjection	matrixd[4]	Camera projection matrix
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
sdIMSemanticWorldTransform	float[]	Semantic array of 4x4 float matrices containing the transform from local to world space for every semantic entity
data	uchar[]	Buffer array data	[]
bufferSize	uint	Size (in bytes) of the buffer (0 if the input is a texture)
swhFrameNumber	uint64	Frame number
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.
primPaths	token[]	Prim paths corresponding to each pose.
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