Access data from multiple render products at the same time

Omniverse Isaac Sim
1

I am trying to access rgb images from multiple cameras at the same time. I am working on a image based RL project where the observation includes an image from an overhead camera. I see that that the replicator attach function supports a list of render products but only considers the first one. Is there any other way I can access camera data in parallel. Currently I am accessing the cameras serially which is not salable to more than 4 environments in my case. The stepping becomes too slow.

3

Hi there,

if you are using writers you can attach multiple render product, if you are using annotators they only support one render product atm. You can however create multiple annotators without issues:

see here an example of using multiple cameras: Frequently Used Python Snippets — isaacsim latest documentation

4

Hi, @ahaidu thanks for your response.
I am able to create multiple annotators but while accessing data I have to loop through each annotator to get its data which constrains the scalability. Is there a way to access data from multiple annotators at the same time?

I am using a semantic segmentation annotator in an RL environment with 9 robots one camera for each robot. As I am accessing the data in a loop every step, the stepping becomes too slow.

Thanks for your help.

5

Hi there, using annotators directly that is how it should work, you step once then you iterate the annotators to collect the data.

You ca optimize your writing I/O by using writers (BasicWriter or custom ones) by increasing the number of threads and queue size: I/O Optimization Guide — extensions latest documentation (nvidia.com)