I am trying to stream camera frames from ISAAC sim to a different process (a C++ program) on the same machine. Currently I am reading the frames from the cameras using omni.syntheticdata.sensors.get_rgb() and then writing them to named pipes, which I read from the C++ program.
This yields acceptable performance for now, but it seems inefficient. Is this the right way to do it? Can I somehow read the frames directly from C++? How do they get from the engine into the python sensors API?
that is a good point, we are currently checking if there are ways to access the data through c++ using the public API. I will get back to you if it is currently possible or it is going to be something supported in the near future.
C++ extensions and OG nodes should be supported with kit 104.x and our upcoming 104.x based release. We will test to make sure that SDG access is possible on our end.