SemanticSegmentation

This node outputs the semantic segmentation.

Installation

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

Inputs

Name	Type	Description	Default
exec	execution	Trigger
numSemantics	uint	Number of semantic entities in the semantic arrays
colorize	bool	If true, convert semantic IDs into colors.	False
numInstances	uint	Number of instances in the instance arrays
instancePrimPathPtr	uint64	Array pointer of numInstances uint64_t containing the prim path tokens for every instance prims
semanticPrimPathPtr	uint64	Array pointer of numSemantics uint32_t containing the prim part of the prim path tokens for every semantic prims
semanticLabelTokenPtrs	uint64[]	Array containing for every input semantic filters the corresponding array pointer of numSemantics uint64_t representing the semantic label of the semantic prim
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
instanceMapPtr	uint64	Array pointer of numInstances uint16_t containing the semantic index of the instance prim first semantic prim parent
minInstanceIndex	uint	Instance id of the first instance in the instance arrays
minSemanticIndex	uint	Semantic id of the first instance in the instance arrays
semanticMapPtr	uint64	Array pointer of numSemantics uint16_t containing the semantic index of the semantic prim first semantic prim parent
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’]
width	uint	Width
height	uint	Height

Outputs

Name	Type	Description	Default
exec	execution	Trigger
data	uchar[]	Semantic segmentation data	[]
idToLabels	string	Mapping from id (or color, if colorize is set to True) 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
_uniqueInstanceIDs	uchar[]	Internal buffer storing unique instance IDs