FreespaceCompute

Writes the output buffer of the IDS sensor

Installation

To use this Node, you must enable omni.drivesim.datastudio.freespace in the Extension Manager.

Inputs

Name	Type	Description	Default
exec	execution	Execution In
pointCloud	float[]	Point cloud
semanticData	uint[]	Semantic data
instanceData	uint[]	Instance data
linearDistances	float[]	Linear distances
sensorDims	uint[]	Sensor dimensions widthxheight
sensorOrigin	float[]	Sensor origin
freespaceSemantics	token[]	Prim paths corresponding to each bounding box.	[‘road’, ‘road_mark’]
numSemantics	uint	Number of semantic entities in the semantic arrays
semanticMapPtr	uint64	Array pointer of numSemantics uint16_t containing the semantic index of the semantic prim first semantic prim parent
instanceMapPtr	uint64	Array pointer of numInstances uint16_t containing the instance index of the semantic prim first semantic prim parent
numInstances	uint	Number of instances in the instance arrays
primPaths	token[]	Prim paths corresponding to each bounding box.
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
sdIMInstanceSemanticMap	uchar[]	Raw array of uint16_t of size sdIMNumInstances’*’sdIMMaxSemanticHierarchyDepth containing the mapping from the instances index to their inherited semantic entities
minInstanceIndex	uint	Instance id of the first instance in the instance arrays
minSemanticIndex	uint	Semantic id of the first instance in the instance arrays
data	uchar[]	Buffer array data	[]
sdIMMinInstanceIndex	uint	Instance id of the first instance in the instance arrays
sdIMInstanceTokens	token[]	Instance array containing the token for every instances

Outputs

Name	Type	Description	Default
frame_id	uint	Frame id
freespace_sensor_dims	uint[]	Width and height of the ids sensor.
freespace_labels	token[]	Point label
freespace_polyline	float[]	3D freespace points
freespace_screen_pos	int[]	2D screen freespace points
data	uchar[]	Buffer array rgb data	[]
_uniqueInstanceIDs	uchar[]	Internal buffer storing unique instance IDs
exec	execution	Execution Out