DOPEWriter doesn't output the artifacts that BasicWriter does such as semantic segmentation mask

Omniverse Synthetic Data Generation (SDG)
1

Here’s the code:

    def _register_pose_annotator():
        NodeConnectionTemplate = SyntheticData.NodeConnectionTemplate
        if writer_helper == DOPEWriter:
            rep.AnnotatorRegistry.register_annotator_from_node(
                name="DopeSync",
                input_rendervars=[
                    NodeConnectionTemplate(
                        "PostProcessDispatch", attributes_mapping={"outputs:swhFrameNumber": "inputs:syncValue"}
                    ),
                    NodeConnectionTemplate("CameraParams", attributes_mapping={"outputs:exec": "inputs:execIn"}),
                    NodeConnectionTemplate("InstanceMapping", attributes_mapping={"outputs:exec": "inputs:execIn"}),
                    NodeConnectionTemplate("bounding_box_3d", attributes_mapping={"outputs:exec": "inputs:execIn"}),
                    NodeConnectionTemplate(
                        "OcclusionSDExportRawArray", attributes_mapping={"outputs:exec": "inputs:execIn"}
                    ),
                ],
                node_type_id="omni.graph.action.SyncGate",
            )

            rep.AnnotatorRegistry.register_annotator_from_node(
                name="dope",
                input_rendervars=[
                    NodeConnectionTemplate("DopeSync", attributes_mapping={"outputs:execOut": "inputs:exec"}),
                    "CameraParams",
                    "InstanceMapping",
                    NodeConnectionTemplate(
                        "bounding_box_3d", attributes_mapping={"outputs:data": "inputs:boundingBox3d"}
                    ),
                    NodeConnectionTemplate(
                        "OcclusionSDExportRawArray", attributes_mapping={"outputs:data": "inputs:occlusion"}
                    ),
                ],
                node_type_id="omni.replicator.isaac.Dope",
                init_params={
                    "width": width,
                    "height": height,
                    "cameraRotation": np.array(camera_rotation),
                },
                output_data_type=np.dtype(
                    [
                        ("semanticId", "<u4"),
                        ("visibility", "<f4"),
                        ("location", "<f4", (3,)),
                        ("rotation", "<f4", (4,)),  # Quaternion
                        ("projected_cuboid", "<f4", (9, 2)),  # Includes Center
                    ]
                ),
                output_is_2d=False,
            )

    def _setup_writer():
        """Setup the OV Replicator dataset writer and attach it to a render product.
        """

        if writer_helper == DOPEWriter:
            writer = rep.WriterRegistry.get("DOPEWriter")
            writer.initialize(
                output_dir=os.getcwd() + '/_out_dope_headless',
                class_name_to_index_map=CLASS_NAME_TO_INDEX,
                use_s3=use_s3,
                bucket_name=bucket,
                endpoint_url=endpoint,
                rgb=True,
                bounding_box_2d_tight=True,
                semantic_segmentation=True,
                instance_segmentation=True,
                distance_to_image_plane=True,
                bounding_box_3d=True,
                occlusion=True,
                normals=True,
            )

        RESOLUTION = (CONFIG["width"], CONFIG["height"])
        driver_rp = rep.create.render_product(str(driver_cam_prim.GetPrimPath()), RESOLUTION)
        pallet_rp = rep.create.render_product(pallet_cam, RESOLUTION)
        forklift_rp = rep.create.render_product(top_view_cam, RESOLUTION)
        writer.attach([driver_rp, forklift_rp, pallet_rp])

        #writer.attach([render_product])    


    _register_pose_annotator()
    _setup_writer()    

    
    # else: 
    #     #Basic Writer
    #     # Initialize and attach writer
    #     writer = rep.WriterRegistry.get("BasicWriter")
    #     print("***************************************************************************************************************************************************************************************************************************************************************************************************************************************************************************************************************")
    #     output_directory = os.getcwd() + "/_output_headless"
    #     print("Outputting data to ", output_directory)
    #     writer.initialize(
    #         output_dir=output_directory,
    #         rgb=True,
    #         bounding_box_2d_tight=True,
    #         semantic_segmentation=True,
    #         instance_segmentation=True,
    #         distance_to_image_plane=True,
    #         bounding_box_3d=True,
    #         occlusion=True,
    #         normals=True,
    #     )



    run_orchestrator()
    simulation_app.update()

And it throws this error:

2023-02-06 21:10:07 [29,201ms] [Warning] [carb.flatcache.plugin] UsdRelationship /Replicator/SDGPipeline/OgnGroup_08.inputs:prims has multiple targets, which is not supported

/buildAgent/work/f25a4639a4b1bdc1/source/foundation/FdFoundation.cpp (162) : invalid operation : Foundation object exists already. Only one instance per process can be created.

inspect.signature(rep.randomizer.scatter_2d):  (surface_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]], seed: int = None, offset: int = 0, check_for_collisions: bool = False, input_prims: Union[omni.replicator.core.scripts.utils.utils.ReplicatorItem, List[str]] = None)
2023-02-06 21:10:16 [38,200ms] [Error] [__main__] Exception: __init__() got an unexpected keyword argument 'rgb'
Traceback (most recent call last):
  File "/home/mona/omniverse-sdg/offline_generation.py", line 732, in <module>
    main()
  File "/home/mona/omniverse-sdg/offline_generation.py", line 702, in main
    _setup_writer()
  File "/home/mona/omniverse-sdg/offline_generation.py", line 689, in _setup_writer
    normals=True,
  File "/home/mona/.local/share/ov/pkg/isaac_sim-2022.2.0/extscache/omni.replicator.core-1.6.4+104.1.lx64.r.cp37/omni/replicator/core/scripts/writers.py", line 310, in initialize
    self.__init__(**kwargs)
TypeError: __init__() got an unexpected keyword argument 'rgb'
[38.546s] Simulation App Shutting Down

However, if I replace the DOPEWriter with the following, I don’t receive an error:

        if writer_helper == DOPEWriter:
            writer = rep.WriterRegistry.get("DOPEWriter")
            writer.initialize(
                output_dir=os.getcwd() + '/_out_dope_headless',
                class_name_to_index_map=CLASS_NAME_TO_INDEX,
                use_s3=use_s3,
                bucket_name=bucket,
                endpoint_url=endpoint,
                # rgb=True,
                # bounding_box_2d_tight=True,
                # semantic_segmentation=True,
                # instance_segmentation=True,
                # distance_to_image_plane=True,
                # bounding_box_3d=True,
                # occlusion=True,
                # normals=True,
            )

And it produces the output like below for one of the cameras:

Screenshot from 2023-02-06 16-16-28
Screenshot from 2023-02-06 16-16-281744×713 62.1 KB

I am interested in dropping all the other artifacts too for the DOPE writer. How should I do that?

2

here’s an example of what the DOPEWriter writes, it doesn’t actually shows any of the classes from my classes of interest like forklift, pallet, cardbox. Do you kno why?

CLASS_NAME_TO_INDEX = {'Cardbox': 1, "Forklift": 2, 'Pallet': 3} # map format ## What is th exact relation of this to DOPEWriter?

Which is used here:

        if writer_helper == DOPEWriter:
            writer = rep.WriterRegistry.get("DOPEWriter")
            writer.initialize(
                output_dir=os.getcwd() + '/_out_dope_headless',
                class_name_to_index_map=CLASS_NAME_TO_INDEX,
                use_s3=use_s3,
                bucket_name=bucket,
                endpoint_url=endpoint,
                # rgb=True,
                # bounding_box_2d_tight=True,
                # semantic_segmentation=True,
                # instance_segmentation=True,
                # distance_to_image_plane=True,
                # bounding_box_3d=True,
                # occlusion=True,
                # normals=True,
            )

Here’s an example json file:

{
  "camera_data": {},
  "objects": [
    {
      "class": "ceiling",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          574.1817016601562,
          295.4580078125
        ],
        [
          480.34674072265625,
          372.4219970703125
        ],
        [
          406.9592590332031,
          328.9810791015625
        ],
        [
          502.05145263671875,
          256.9510192871094
        ],
        [
          571.9588623046875,
          337.4773254394531
        ],
        [
          481.5470886230469,
          414.07745361328125
        ],
        [
          410.81378173828125,
          370.8844299316406
        ],
        [
          502.396240234375,
          299.0223388671875
        ],
        [
          1991.4193115234375,
          -711.0839233398438
        ]
      ]
    },
    {
      "class": "floor",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          574.1817016601562,
          295.4580383300781
        ],
        [
          480.34674072265625,
          372.4219970703125
        ],
        [
          406.9592590332031,
          328.9810791015625
        ],
        [
          502.05145263671875,
          256.9510192871094
        ],
        [
          571.9588623046875,
          337.4773254394531
        ],
        [
          481.5470886230469,
          414.07745361328125
        ],
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          410.81378173828125,
          370.8844299316406
        ],
        [
          502.396240234375,
          299.0223388671875
        ],
        [
          1991.4193115234375,
          -711.0839233398438
        ]
      ]
    },
    {
      "class": "ceiling",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          797.5686645507812,
          486.5168151855469
        ],
        [
          704.4212036132812,
          590.5543823242188
        ],
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          610.41796875,
          531.57763671875
        ],
        [
          706.40380859375,
          435.234619140625
        ],
        [
          785.8245849609375,
          526.9996337890625
        ],
        [
          695.9492797851562,
          629.3143310546875
        ],
        [
          606.24658203125,
          571.390380859375
        ],
        [
          698.6883544921875,
          476.33770751953125
        ],
        [
          1991.4193115234375,
          -711.0839233398438
        ]
      ]
    },
    {
      "class": "floor",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          797.5686645507812,
          486.5168151855469
        ],
        [
          704.4212036132812,
          590.5543823242188
        ],
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          610.41796875,
          531.57763671875
        ],
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          435.234619140625
        ],
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          785.8245849609375,
          526.9996337890625
        ],
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          571.390380859375
        ],
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          698.6883544921875,
          476.33770751953125
        ],
        [
          1991.4193115234375,
          -711.0839233398438
        ]
      ]
    },
    {
      "class": "ceiling",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          459.92938232421875,
          398.55670166015625
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          489.58990478515625
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        ],
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          385.80963134765625,
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          461.9422607421875,
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          530.03076171875
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        ]
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    },
    {
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      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
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          398.55670166015625
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          479.1604309082031
        ],
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          395.15277099609375
        ],
        [
          1991.4193115234375,
          -711.0839233398438
        ]
      ]
    },
    {
      "class": "ceiling",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
          433.283203125,
          299.9938049316406
        ],
        [
          330.1372375488281,
          377.5503845214844
        ],
        [
          261.5275573730469,
          333.7705078125
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          365.3638916015625,
          261.2040100097656
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          436.1072692871094,
          342.00128173828125
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          337.0599670410156,
          419.1693420410156
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          270.7527160644531,
          375.65191650390625
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          370.4635009765625,
          303.27386474609375
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          -711.0839233398438
        ]
      ]
    },
    {
      "class": "floor",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
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      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
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          702.2670288085938,
          310.7205810546875
        ],
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          615.3831176757812,
          389.688232421875
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      "location": [
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      ],
      "quaternion_xyzw": [
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      ],
      "projected_cuboid": [
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    {
      "class": "ceiling",
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      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
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      ],
      "projected_cuboid": [
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      "location": [
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      "quaternion_xyzw": [
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      "projected_cuboid": [
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        ]
      ]
    },
    {
      "class": "ceiling",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
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      "class": "floor",
      "visibility": 1.0,
      "location": [
        2656.077880859375,
        -2195.86572265625,
        2105.58642578125
      ],
      "quaternion_xyzw": [
        0.3043695092201233,
        0.853121817111969,
        -0.3990859091281891,
        0.1423824578523636
      ],
      "projected_cuboid": [
        [
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}
3

Hello @mona.jalal! I’ve shared your post with the dev team for further assistance.

1 Like