How to only focus on objects of interest for instance semantic segmentation?

Currently, the BasicWriter produces instance semantic segmentation masks that includes all the objects in a scene.

How can I force it so that only shows the instance semantic segmentation masks only for the objects of interest?

Here’s an example of such produced mask.

Here, I only want to show the instance semantic segmentation for pallets and forklift. How do I go about it?

Hi there,

you can remove the semantic labels of the prims if you do not want to have them in your data

In your scenario the prims are labeled by default, so you would need to do this either from:

  1. manually
  2. code (snippet example or the remove_.. functions from /omni.isaac.core/omni/isaac/core/utils/,
  3. the Semantics Schema Editor.