Hey, I’m trying to create a simulation model for synthetic data generation in Isaac Sim 2022.2.0. There are a lot of boxes on a pallet with randomized positioning, lighting and materials. I’m getting the corners and the center points of the top from the 3d bounding box annotator in a custom writer with the following code which works for a single bounding box.

```
import omni.syntheticdata as sd
def world_to_image_pinhole(world_points: np.ndarray, camera_params: dict) -> np.ndarray:
# Project corners to image space (assumes pinhole camera model)
proj_mat = camera_params["cameraProjection"].reshape(4, 4)
view_mat = camera_params["cameraViewTransform"].reshape(4, 4)
view_proj_mat = np.dot(view_mat, proj_mat)
world_points_homo = np.pad(world_points, ((0, 0), (0, 1)), constant_values=1.0)
tf_points = np.dot(world_points_homo, view_proj_mat)
tf_points = tf_points / (tf_points[..., -1:])
return 0.5 * (tf_points[..., :2] + 1)
def write(self, data: dict):
render_product = [k for k in data.keys() if k.startswith("rp_")][0]
bbox3ds = data["bounding_box_3d"]["data"]
corners_3d = sd.get_bbox_3d_corners(bbox3ds)
corners_3d = corners_3d.reshape(-1,3)
points = [corners_3d[0].tolist().pop(i) for i in range(4,8)]
points.append(center_point(*points))
corners_2d = world_to_image_pinhole(points, data["camera_params"])
# contains top corners and center point
corners_2d *= np.array([[self.width, self.height]])
```

Is there a way to also get the visibility/occlusion of these points to see if they are hidden behind other prims? I already tried different annotators (point cloud, occlusion, bounding box 2d), but they show all points/objects in the scene. I would need like a list with all the points that are visible to the camera or check in some way if the points are hidden/visible. Is that possible?

Thanks for any help!