How to control the data generation speed of Replicator

Omniverse Isaac Sim
, , ,
1

Hello everyone, I’m sorry to bother you. I encountered some issues while using ‘Replicant’.

I want to generate some RGB images, but its capture rate is too fast, generating many, many images in just one second, which is different from the actual situation of my robot. I want to know how to control its generation speed.

Also, I am running it in ‘Python standalone’ and I hope to receive some help in resolving this issue.

        render_product = rep.create.render_product(camera.GetPrimPath(), resolution=(800, 600))
        basic_writer = rep.WriterRegistry.get("BasicWriter")
        basic_writer.initialize(
                    output_dir="/home/shubao/OM/test/rgb",
                    rgb=True,
                    bounding_box_2d_loose=False,
                    bounding_box_2d_tight=True,
                    bounding_box_3d=False,
                    distance_to_camera=False,
                    distance_to_image_plane=False,
                    instance_segmentation=False,
                    normals=False,
                    semantic_segmentation=False,
                    pointcloud=True,
                )
        basic_writer.attach([render_product])
3 


rp = rep.create.render_product(camera.GetPrimPath(), (512, 512))
writer = rep.writers.get(
        name = "BasicWriter",
        init_params = {"output_dir": "/home/shubao/OM/test/rgb", "rgb": True,"image_output_format": "png","bounding_box_2d_tight": True,"pointcloud": True},
        render_products = rp,
        trigger = None,
)


while simulation_app.is_running():
    my_world.step(render=True)
    if my_world.is_playing() :
        if z % 500 == 0:
             writer.schedule_write()

writer.schedule_write()

Functions can solve

4

Hi Julie, great to hear scheduling the writer helped you output less camera frames. It is likely the simplest way of controlling how often frames are written by your writer in this version of Isaac Sim.