Hello there,
I want to read out the numpy arrays generated with ISAAC.
Below my code how I create the poses.npy
def write_data(self):
#gt["METADATA"]["image_id"] = 1
#gt["METADATA"]["viewport_name"] = 'Camera'
app = omni.kit.app.get_app_interface()
for cam_num in range(0,len(self.camera_paths)):
camera_path = self.camera_paths[cam_num]
self.set_box_view(camera_path)
for i in range(100):
app.update()
if(self.data_counter == 0):
self.get_camera_params(self.output_names[cam_num])
gt = self.get_groundtruth()
(...skipped some code here...)
if gt["state"]["instanceSegmentation"]:
instance_data = gt["instanceSegmentation"]
instance_att = instance_data[1]
poses = np.ndarray((len(instance_att)+1,6))
for i in range(-1,len(instance_att)):
if i == -1:
prim_path = self.bin_prim_path
instance_id = 0
else:
instance = instance_att[i]
prim_path = instance[1]
instance_id = instance[0]
this_partX = XFormPrim(prim_path)
prim_tf = this_partX.get_world_pose()
position, orientation = this_partX.get_world_pose()
orientation_deg = quat_to_euler_angles(orientation, True)
poses[instance_id,:] = np.append(position,orientation_deg)
groundtruth["DATA"]["POSES"] = poses
When I try a numpy reader I downloaded the array seems empty, if I review it with any other program it just seems ‘encrypted’ which makes sense because those programs can’t read them out properly.
Hope you can help me, thanks!