SdPostSemantic3dBoundingBoxCameraProjection

Synthetic Data node to project 3d bounding boxes data in camera space.

Installation

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

Inputs

Name	Type	Description	Default
gpu	uint64	Pointer to shared context containing gpu foundations
rp	uint64	Pointer to render product for this view
instanceMappingInfoSDPtr	uint64	uint buffer pointer containing the following information : [numInstances, minInstanceId, numSemantics, minSemanticId, numProtoSemantic]
semanticWorldTransformSDCudaPtr	uint64	cuda float44 buffer pointer of size numSemantics containing the world semantic transform
sdSemBBoxInfosCudaPtr	uint64	Cuda buffer containing valid bounding boxes infos
sdSemBBoxExtentCudaPtr	uint64	Cuda buffer containing the extent of the bounding boxes as a float4=(u_min,v_min,u_max,v_max) for 2D or a float6=(xmin,ymin,zmin,xmax,ymax,zmax) in object space for 3D
renderProductResolution	int[2]	RenderProduct resolution
cameraModel	int	Camera model (pinhole or fisheye models)
cameraFisheyeParams	float[]	Camera fisheye projection parameters
cameraNearFar	float[2]	Camera near/far clipping range
metersPerSceneUnit	float	Scene units to meters scale	0.01
viewportNearFar	float[2]	near and far plane (in scene units) used to clip the 3d bounding boxes.	[1.0, 10000000.0]
viewportResolution	int[2]	viewport width and height (in pixels) used to clip the 3d bounding boxes.	[65536, 65536]
exec	execution	Trigger

Outputs

Name	Type	Description	Default
sdSemBBox3dCamCornersCudaPtr	uint64	Cuda buffer containing the projection of the 3d bounding boxes on the camera plane represented as a float4=(u,v,z,a) for each bounding box corners
sdSemBBox3dCamExtentCudaPtr	uint64	Cuda buffer containing the 2d extent of the 3d bounding boxes on the camera plane represented as a float6=(u_min,u_max,v_min,v_max,z_min,z_max)
exec	execution	Trigger