I am currently implementing a custom writer for GitHub - DSD-DBS/raillabel: A devkit for working with recorded and annotated train ride data from Deutsche Bahn.. This is based on ASAM OpenLabel and requires to provide some additional 2D annotations that are not available right now in the set of annotators in Replicator. For example I need to provide 2D polygons and linestrings to represent objects for a camera image.
I need some advice on how to implement custom annotators for this purpose.
Thanks for any help
Bruno
Are you looking to output an image with a rendered representation of the data, or just the floating point data in json or something? When you say 2d polygons and linestrings, do you mean wireframe?
I need to output sensor data like rbg images, which works fine.
I also want to output certain annotations. One thing I need is the 2D bounding boxes of objects. This is also an existing annotator in Replicator and works fine.
What I need now is something similar to bounding boxes, but to represent curves in the scene (like UsdGeomBasisCurves) in 2D coordinates. If there is a curve in the 3D scene, I want to have the 2D coordinates of the curve vertices so they can be related to the rgb image.
What I probably need is a way to correctly project the verices coordinates to the 2D plane of the camera image. My understanding is that this projection is implemented in Omniverse somehow, because 2D bounding boxes are available via Replicator. The corresponding code is however part of binaries, so I cannot use it as a template.
I would preferrably implement this logic in Python but have no clue where to start.