Generate semantic masks which include object shadows


I’m using the replicator in headless mode to generate RGB images of a single object with its semantic mask.

Currently the semantic mask only includes pixels which contain the 3d object itself. I’d like to include the shadow as well, is there some way to do it?


Hello @arik.voronov! I’ve shared your question with the dev team for further assistance.

Also, if you haven’t checked it out already, here is a link to our Replicatior Documentation which may help! Replicator — Omniverse Code documentation