following the dibr-tutorial notebook from github/NV/kaolin, the default render_clock sample is working well, but using the custoimzed output from omniverse kaolin is not able to converge, I check the metdata.json, looks like the clippingrange and the tf_mat unit is not the same with the default render_clock, so i change the extension code, to multiply the tf_mat[-1][2] with 100, and change the clippingrange[0] to 1.0, as following, it works.
def _get_camera_properties(self):
width = self._settings.get("/app/renderer/resolution/width")
height = self._settings.get("/app/renderer/resolution/height")
tf_mat = np.array(UsdGeom.Xformable(self.camera).ComputeLocalToWorldTransform(0.0).GetInverse()).tolist()
tf_mat[-1][2] *= 100
clippingrange = self.camera.GetAttribute("clippingRange").Get()
clippingrange[0] = 1
cam_props = {
"resolution": {"width": width, "height": height},
"clipping_range": tuple(clippingrange),#tuple(self.camera.GetAttribute("clippingRange").Get()),
"horizontal_aperture": self.camera.GetAttribute("horizontalAperture").Get(),
"focal_length": self.camera.GetAttribute("focalLength").Get(),
"tf_mat": tf_mat,#np.array(UsdGeom.Xformable(self.camera).ComputeLocalToWorldTransform(0.0).GetInverse()).tolist(),
}
return cam_props
