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rich annotations & update open-pi fsdp explanations

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Leon998
2026-03-18 13:59:52 +08:00
parent 814f3c3526
commit 4934c4794e
11 changed files with 349 additions and 32 deletions
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43
workflows/simbox/core/cameras/custom_camera.py
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@@ -1,6 +1,7 @@
import numpy as np
import omni.replicator.core as rep
from core.cameras.base_camera import register_camera
from core.utils.camera_utils import get_src
from omni.isaac.core.prims import XFormPrim
from omni.isaac.core.utils.prims import get_prim_at_path
from omni.isaac.core.utils.transformations import (
@@ -40,9 +41,25 @@ class CustomCamera(Camera):
**kwargs,
)
self.initialize()
self.add_motion_vectors_to_frame()
self.add_semantic_segmentation_to_frame()
self.add_distance_to_image_plane_to_frame()
self.with_distance = cfg["params"].get("with_distance", True)
self.with_semantic = cfg["params"].get("with_semantic", False)
self.with_bbox2d = cfg["params"].get("with_bbox2d", False)
self.with_bbox3d = cfg["params"].get("with_bbox3d", False)
# Motion vectors are high-volume outputs; keep default off unless explicitly enabled in config.
self.with_motion_vector = cfg["params"].get("with_motion_vector", False)
self.with_depth = cfg["params"].get("depth", False)
if self.with_distance:
self.add_distance_to_image_plane_to_frame()
if self.with_semantic:
self.add_semantic_segmentation_to_frame()
if self.with_bbox2d:
self.add_bounding_box_2d_tight_to_frame()
self.add_bounding_box_2d_loose_to_frame()
if self.with_bbox3d:
self.add_bounding_box_3d_to_frame()
if self.with_motion_vector:
self.add_motion_vectors_to_frame()
# ===== From cfg =====
pixel_size = cfg["params"].get("pixel_size")
@@ -155,9 +172,27 @@ class CustomCamera(Camera):
obs = {
"color_image": color_image,
"depth_image": self.get_depth(),
"camera2env_pose": camera2env_pose,
"camera_params": self.is_camera_matrix.tolist(),
}
if self.with_depth:
obs["depth_image"] = get_src(self, "depth"),
seg_data = get_src(self, "seg")
if seg_data is not None:
obs["semantic_mask"] = seg_data["mask"]
obs["semantic_mask_id2labels"] = seg_data["id2labels"]
bbox2d_tight = get_src(self, "bbox2d_tight")
if bbox2d_tight is not None:
obs["bbox2d_tight"], obs["bbox2d_tight_id2labels"] = bbox2d_tight
bbox2d_loose = get_src(self, "bbox2d_loose")
if bbox2d_loose is not None:
obs["bbox2d_loose"], obs["bbox2d_loose_id2labels"] = bbox2d_loose
bbox3d = get_src(self, "bbox3d")
if bbox3d is not None:
obs["bbox3d"], obs["bbox3d_id2labels"] = bbox3d
motion_vectors = get_src(self, "motion_vectors")
if motion_vectors is not None:
obs["motion_vectors"] = motion_vectors
return obs