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