I don't want to annotate certain semantic data

Omniverse Synthetic Data Generation (SDG)
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1

So for my scene I have bottles with classes so that they can move around the scene, and the caps have classes while remaining under the bottle class(don’t want the caps coming off).

2023-01-20 10_04_10-Window
2023-01-20 10_04_10-Window1415×581 91.9 KB

2023-01-20 10_04_48-Greenshot
2023-01-20 10_04_48-Greenshot1415×581 92.4 KB

I’m wondering if there’s something I can do to make Omniverse not output the annotator data for the bottles while leaving the caps intact.
Here’s a snippet of the code
with rep.trigger.on_frame(num_frames=700, rt_subframes=32):
rep.randomizer.BG_Shuffle()
rep.randomizer.CD_Shuffle()
rep.randomizer.C_Shuffle()
rep.randomizer.CZ_Shuffle()
rep.randomizer.D_Shuffle()
rep.randomizer.DC_Shuffle()
rep.randomizer.DDP_Shuffle()
rep.randomizer.DP_Shuffle()
rep.randomizer.F_Shuffle()
rep.randomizer.MM_Shuffle()
rep.randomizer.PC_Shuffle()
rep.randomizer.PD_Shuffle()
rep.randomizer.RG_Shuffle()
rep.randomizer.S_Shuffle()
rep.randomizer.lightSwitch()
with camera:
rep.modify.pose(position=rep.distribution.sequence(choices))

writer = rep.WriterRegistry.get("BasicWriter")
writer.initialize(
    output_dir="BottleVend1-18-2023",
    rgb=True,
    bounding_box_2d_tight=True,
    distance_to_camera=True
)
writer.attach([render_product])
2

Hello,

First of all - nice looking scene!

The easiest way to do this via scripting is with set_instance_mapping_semantic_filter()

To your script, add:

from omni.syntheticdata import SyntheticData
...
writer.initialize(....)
# set_instance_mapping_semantic_filter() needs to be called after the writer initialization
# because BasicWriter also uses the function for filtering semantics
# change "class:!bottle" to whatever your bottle semantics are
SyntheticData.Get().set_instance_mapping_semantic_filter("class:!bottle")

Change "class:!bottle" to whatever the semantics of your bottles are. You can even set multiple semantics to filter.

See the bottom of this page for more details on the filtering syntax.

Longer example:

Note: most of this code is setting-up a simple scene with semantics plane, sphere, and cube. At the end I will filter-out the sphere semantic objects.

import omni.replicator.core as rep
from omni.syntheticdata import SyntheticData

with rep.new_layer():

    camera = rep.create.camera(position=(0, 500, 1000), look_at=(0, 0, 0))

    # Create simple shapes to manipulate
    plane = rep.create.plane(semantics=[("class", "plane")], position=(0, -100, 0), scale=(100, 1, 100))
    cubes = rep.create.cube(
        semantics=[("class", "cube")], position=rep.distribution.uniform((-300, 0, -300), (300, 0, 300)), count=6
    )
    spheres = rep.create.sphere(
        semantics=[("class", "sphere")], position=rep.distribution.uniform((-300, 0, -300), (300, 0, 300)), count=6
    )

    with rep.trigger.on_frame(num_frames=10):
        with cubes:
            rep.randomizer.color(colors=rep.distribution.normal((0.2, 0.2, 0.2), (1.0, 1.0, 1.0)))
        with spheres:
            rep.randomizer.color(colors=rep.distribution.normal((0.2, 0.2, 0.2), (1.0, 1.0, 1.0)))


render_product = rep.create.render_product(camera, (512, 512))

writer = rep.WriterRegistry.get("BasicWriter")
writer.initialize(
    output_dir="remove_semantics",
    rgb=True,
    semantic_segmentation=True,
    colorize_semantic_segmentation=True,
)
# Filter class:sphere objects (_after_ BasicWriter is initialized)
# https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/semantics_schema_editor.html
SyntheticData.Get().set_instance_mapping_semantic_filter("class:!sphere")
writer.attach([render_product])
rep.orchestrator.run()