How can I set indices of point cloud segmentation? and Can I get point cloud data with tensor directly?

Omniverse Isaac Sim
1

Hello,

Now I am trying to get point cloud segmentation data at the OGIE environment. In my multi-environments, there are several objects and manipulation tools.

The problem is I cannot set the segmentation index and it seems the embedded module such as from pxr import Semantics gives the index somewhat random. I still cannot find the rules for the way to set indices.

Many answers in the forum and the example codes are shown below lines but, I cannot find the method of setting indices.

sphere_prim = stage.GetPrimAtPath("/World/Sphere/sphere")
sphere_sem = Semantics.SemanticsAPI.Apply(sphere_prim, "Semantics")
sphere_sem.CreateSemanticTypeAttr()
sphere_sem.CreateSemanticDataAttr()
sphere_sem.GetSemanticTypeAttr().Set("class")
sphere_sem.GetSemanticDataAttr().Set("sphere")

How can I set indices?

And can I get point cloud data with tensor directly?

Thanks.

4

Is there anyone who can set the indices of point cloud segmentation?

9

Hi there,

the indexes are computed at runtime and cannot be set. There is however a mapping (idToLabels) from semantic_data from which you can access the labels.

Here are the details on the pointcloud annotator’s output:

And the details on the semantic_segmentation (NOTE: you should keep the colorize parameter to False to get the right mapping)

1 Like
10

@ahaidu

Thanks!!

11

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