How to assign semantic labels

Omniverse Isaac Sim
1

Hi Experts.

I am using the replicator code in the link below to generate the composite image.
I have two questions.

1.How is labeling of assets in the warehouse space conducted?

When creating the full_warehouse.usd file, are labels already applied? Alternatively, is labeling carried out through some method, such as using a code or function based on the asset’s name?

full_warehouse
full_warehouse4405×2776 1.26 MB

USD file in use:
“omniverse://localhost/NVIDIA/Assets/Isaac/2022.2.1/Isaac/Environments/Simple_Warehouse/full_warehouse.usd”

2.When manually adding assets and assigning labels, how are IDs allocated?

When labeling the “chair” asset using rep.create.from_usd(), it receives the ID 27. What code determines the assignment of these IDs?

chair
chair6121×2959 1.24 MB

2

i am just another OV user, but not sure if this doc answers either one of your questions regarding semantic labeling (but feel free to take a look in case there are some relevance):

https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html

my understanding is that the warehouse level uses SimReady assets as reference. and each geom prim already has predefined semantics. furthermore, SimReady library assets that were shipped with/used in OV apps were defined by the general guide found here - Semantic Labeling — Omniverse SimReady latest documentation (the bottom URL should direct you to the spec doc)

i am not too sure how replicator allocates the ID numbers, though.

5

The id’s are randomly assigned at runtime and are not persistent. You can use idToLabels for example from semantic_segmentation (or other) annotators to get the mapping:

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6

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