Replicator 3d coordinates

Omniverse Isaac Sim
,
1

Isaac sim 5.1

I’m trying to get 3D world coordinates of a lego block using the code below, but my code breaks in world_p = camera.get_world_points_from_image_coords(np.array([[u,v]]),depth_img[j-1:j,i-1:i][0] + (4.0 - depth_img[j-1:j,i-1:i][0]) / 2 + 0.01), I’m getting this message: 2026-01-14T04:02:21Z [386,388ms] [Warning] [omni.replicator.core.scripts.utils.utils] ‘ReplicatorItem’ object has no attribute ‘get_world_points_from_image_coords’
code

import omni.replicator.core as rep

import asyncio

async def test_bbox_2d_tight():

with rep.new_layer():

    BLOCK_PRIM_PATH = "/World/block_r/block_r/tn__Part1_f5/Mesh"

    BASE_PRIM_PATH = "/World/basePartz/basePartz/tn__Part1_f5/Mesh"

    ZED_CAMERA_PATH = "/World/ZED_X/base_link/ZED_X/CameraRight"



    \# Create replicator wrappers for existing prims

    block = rep.get.prim_at_path(BLOCK_PRIM_PATH)

    base = rep.get.prim_at_path(BASE_PRIM_PATH)



    \# Apply semantics to each object

    with block:

        rep.modify.semantics(\[('class', 'lego_block')\])

    with base:

        rep.modify.semantics(\[('class', 'lego_base')\])



    \# Setup camera and attach it to render product

    zed_camera = rep.get.prim_at_path(ZED_CAMERA_PATH)

    render_product = rep.create.render_product(zed_camera, resolution=(1024, 1024))



    bbox_2d_tight = rep.AnnotatorRegistry.get_annotator(

        "bounding_box_2d_tight", init_params={"semanticFilter": "\*:lego_block|lego_base"}

    )

    bbox_2d_tight.attach(render_product)



    \# After bbox_2d_tight, add these annotators:

    depth_annotator = rep.AnnotatorRegistry.get_annotator("distance_to_image_plane")

    depth_annotator.attach(render_product)

    rgb_annotator = rep.AnnotatorRegistry.get_annotator("rgb")

    rgb_annotator.attach(render_product)



    \# After await rep.orchestrator.step_async():

    rgb_data = rgb_annotator.get_data()

    depth_data = depth_annotator.get_data()  # This is your distance_to_image_plane data

    

    depth_img = depth_data  # Direct use, already float32

    rgb_img = rgb_data

    

    await rep.orchestrator.step_async()

    data = bbox_2d_tight.get_data()

    print(data)

    bbox_data = data\['data'\]

    first_bbox = bbox_data\[0\]

    print(first_bbox)

    x0 = first_bbox\['x_min'\]

    y0 = first_bbox\['y_min'\]

    x1 = first_bbox\['x_max'\]

    y1 = first_bbox\['y_max'\]

    #目标物体中心像素坐标的计算

    u = (x0 + x1) / 2 

    v = (y0 + y1) / 2

    i = (int)(u)

    j = (int)(v)

    #像素坐标到世界的转换

    world_p = camera.get_world_points_from_image_coords(np.array(\[\[u,v\]\]),depth_img\[j-1:j,i-1:i\]\[0\] + (4.0 - depth_img\[j-1:j,i-1:i\]\[0\]) / 2 + 0.01)

    print(world_p)

asyncio.ensure_future(test_bbox_2d_tight())

2

Hi there, the function you are trying to use is for the camera sensor, in the example you are using a replicator wrapped camera prim.

Here is an example snippet using the function:

  • /standalone_examples/api/isaacsim.sensors.camera/camera.py
1 Like
3

is there a similar function for the replicator ?

4

you could you the 3d bounding box annotator data, or reading the transforms directly from USD.

5

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