Hello,
I am using the replicator create camera function to generate synthetic data. This camera is randomized using the approach mentioned in the documentation. I already have a list of orientations and positions parameters for the camera to use. These parameters have been collected manually while navigating in my scene using Isaac Sim, and annotating the postion / orientation in the desired locations. While the positions seems to be correct, there is a major problem in the orientation. None of the annotated angles give me the same angle as I earlier saw them in the viewport.
@toninsemaan is it possible for you to upload a screenshot or do a side by side comparison to show what you are getting from the annotated angles vs from within the viewport?
import omni.replicator.core as rep
rep_camera = rep.create.camera()
Get the orientation / position of all the set cameras in the usd scene and launch the randomizer
stage = omni.usd.get_context().get_stage()
cams_positions = []
cams_rotations = []
camera_paths = ["/World/Camera", "/World/Camera_01"]
for cam_path in camera_paths:
prim: Usd.Prim = stage.GetPrimAtPath(cam_path)
orient = prim.GetAttribute("xformOp:orient").Get()
translate = prim.GetAttribute("xformOp:translate").Get()
#Then, since the above command gives me the orientation in quad, I am transforming them to euler using the following:
rotation = quat_to_euler_angles(quat=gf_quat_to_np_array(orient), degrees=True).tolist()
cams_rotations.append(rotation)
cams_positions.append(translate)
cams_positions_float = []
cams_rotations_float = []
for i in range(len(cams_positions)):
if cams_positions[i] is not None and cams_rotations[i] is not None:
cams_positions_float.append((cams_positions[i][0], cams_positions[i][1], cams_positions[i][2]))
cams_rotations_float.append((cams_rotations[i][0], cams_rotations[i][1], cams_rotations[i][2]))
# Randomize Camera
with rep.trigger.on_frame(num_frames=len(cams_positions_float)):
with rep_camera:
rep.modify.pose(position=rep.distribution.sequence(cams_positions_float),
rotation=rep.distribution.sequence(cams_rotations_float))
rp = rep.create.render_product(rep_camera, (512,512), True)
writer.attach([rp])
While the current viewport of the camera are as follows:
just fyi, i am just another user so you can take my input as a grain of salt. always air on the side of what the dev has to say.
that said, regarding the orientation, i am not sure what you are seeing pertains to the z-up discrepancy mentioned in this post. and another optional step if see further mismatch in terms of what you are seeing in the render output, you could try capturing additional camera attributes such as focusDistance, focalLength, clippingRange, etc so it matches exactly to the camera setting used in Stage.
Hi, I found the similar problem with you, and I wrote a pose of it, hope it can help you out.
Or you can just read the following “Solution part”.
Solution
According to the discussion in the form, I think its a designed mechanism to automatically keep the same camera coordinate system(+Y up) across different USD files.
And if you want to cancel this “auto-rotation” effect, you can use camera_axes="usd" args in set_world_pose().
from omni.isaac.sensor import Camera
camera = Camera(
prim_path="/World/camera",
position=np.array([0, 0, 0]),
orientation=np.array([1, 0, 0, 0]),
)
camera.set_world_pose(np.array([0, 0, 0]), np.array([1, 0, 0, 0]), camera_axes="usd")
my_world.step(render=True)
This way, the default camera pose will aligned with the world frame.
