Is it possible to disable and enable camera rendering as needed?

Omniverse Synthetic Data Generation (SDG)
1

Hello,

I am working on a project where I drop objects into a bin and then capture a depth image after all the objects have fallen down. For getting the depth image I use 2 cameras with render products. In the first iteration, the objects fall quickly because the rendering products are generated afterwards, However, in the second iteration, the objects fall much slower due to the rendering process.

I found a forum post that suggests it is possible to disable camera rendering:
Disable camera rendering

When I attempt to enable rendering again, I receive warnings, and the program crashes because the get_data() function from the annotator returns an empty image.

Here’s the code I use to disable rendering before dropping the objects:

def disable_render_products_rendering(self):
        self.rp.hydra_texture.set_updates_enabled(False)
        self.rp_normal.hydra_texture.set_updates_enabled(False)
        simulation_app.update()
        rep.orchestrator.step()

And this is the code I use before retrieving the camera data:

def enable_render_products_rendering(self):
        self.rp.hydra_texture.set_updates_enabled(True)
        self.rp_normal.hydra_texture.set_updates_enabled(True)
        simulation_app.update()
        rep.orchestrator.step()

After calling enable_render_products_rendering(), I get the following warnings:

2024-05-21 10:56:06 [92,156ms] [Warning] [omni.syntheticdata.plugin] OgnSdPostInstanceMapping missing source aov InstanceIdTokenMapSD
2024-05-21 10:56:06 [92,156ms] [Warning] [omni.replicator.core.plugin] InstanceSegmentation : missing RenderVar InstanceMapSD
2024-05-21 10:56:06 [92,156ms] [Warning] [omni.syntheticdata.plugin] SdPostRenderVarToHost missing valid input renderVar Camera3dPositionSD
2024-05-21 10:56:06 [92,195ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarPtr missing valid input renderVar Camera3dPositionSDhost
2024-05-21 10:56:06 [92,195ms] [Warning] [omni.syntheticdata.plugin] SdRenderVarToRawArray missing valid input renderVar InstanceSegmentationSD
2024-05-21 10:56:06 [92,195ms] [Warning] [omni.syntheticdata.plugin] OgnSdInstanceMapping missing valid input renderVar InstanceMappingInfoSDhost
2024-05-21 10:56:06 [92,195ms] [Warning] [omni.syntheticdata.plugin] OgnSdInstanceMapping missing valid input renderVar InstanceMappingInfoSDhost

Does someone have any suggestions for resolving this issue?

Thank you in advance.