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Visual Perception

Semantic category segmentation colors (_category pass)

The _category pass is similar to the _id pass but it assigns colors based on the semantic category of the objects in the scene. Note that the two items on the table are in the same category and therefore receive the same color:

Model category metadata

You can get each object's category via the ModelLibrarian:

from tdw.librarian import ModelLibrarian

lib = ModelLibrarian()

for object_name in ["small_table_green_marble", "rh10", "jug01", "jug05"]:
    record = lib.get_record(object_name)
    print(object_name, record.wcategory)

Result:

small_table_green_marble table
rh10 toy
jug01 jug
jug05 jug

Categories output data

To get each object's category at runtime, send send_segmentation_colors:

from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from tdw.output_data import OutputData, SegmentationColors

c = Controller()
object_id_0 = c.get_unique_id()
object_id_1 = c.get_unique_id()
object_id_2 = c.get_unique_id()
object_id_3 = c.get_unique_id()
object_names = {object_id_0: "small_table_green_marble",
                object_id_1: "rh10",
                object_id_2: "jug01",
                object_id_3: "jug05"}
resp = c.communicate([TDWUtils.create_empty_room(12, 12),
                      c.get_add_object(object_names[object_id_0],
                                       object_id=object_id_0),
                      c.get_add_object(object_names[object_id_1],
                                       position={"x": 0.7, "y": 0, "z": 0.4},
                                       rotation={"x": 0, "y": 30, "z": 0},
                                       object_id=object_id_1),
                      c.get_add_object(model_name=object_names[object_id_2],
                                       position={"x": -0.3, "y": 0.9, "z": 0.2},
                                       object_id=object_id_2),
                      c.get_add_object(object_names[object_id_3],
                                       position={"x": 0.3, "y": 0.9, "z": -0.2},
                                       object_id=object_id_3),
                      {"$type": "send_segmentation_colors",
                       "frequency": "once"}])
# Get each object category.
for i in range(len(resp) - 1):
    r_id = OutputData.get_data_type_id(resp[i])
    if r_id == "segm":
        segm = SegmentationColors(resp[i])
        for j in range(segm.get_num()):
            object_id = segm.get_object_id(j)
            object_category = segm.get_object_category(j)
            print(object_id, object_category)
c.communicate({"$type": "terminate"})

To get the color of each category, send send_categories, which will return Categories output data:

from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from tdw.output_data import OutputData, SegmentationColors, Categories

"""
Get the _category pass and category data per object.
"""

c = Controller()
object_id_0 = c.get_unique_id()
object_id_1 = c.get_unique_id()
object_id_2 = c.get_unique_id()
object_id_3 = c.get_unique_id()
object_names = {object_id_0: "small_table_green_marble",
                object_id_1: "rh10",
                object_id_2: "jug01",
                object_id_3: "jug05"}
resp = c.communicate([TDWUtils.create_empty_room(12, 12),
                      c.get_add_object(object_names[object_id_0],
                                       object_id=object_id_0),
                      c.get_add_object(object_names[object_id_1],
                                       position={"x": 0.7, "y": 0, "z": 0.4},
                                       rotation={"x": 0, "y": 30, "z": 0},
                                       object_id=object_id_1),
                      c.get_add_object(model_name=object_names[object_id_2],
                                       position={"x": -0.3, "y": 0.9, "z": 0.2},
                                       object_id=object_id_2),
                      c.get_add_object(object_names[object_id_3],
                                       position={"x": 0.3, "y": 0.9, "z": -0.2},
                                       object_id=object_id_3),
                      {"$type": "send_categories",
                       "frequency": "once"},
                      {"$type": "send_segmentation_colors",
                       "frequency": "once"}])
# Get each object category and category color.
object_categories = dict()
category_colors = dict()
for i in range(len(resp) - 1):
    r_id = OutputData.get_data_type_id(resp[i])
    if r_id == "segm":
        segm = SegmentationColors(resp[i])
        for j in range(segm.get_num()):
            object_id = segm.get_object_id(j)
            object_category = segm.get_object_category(j)
            object_categories[object_id] = object_category
    elif r_id == "cate":
        cate = Categories(resp[i])
        for j in range(cate.get_num_categories()):
            category_name = cate.get_category_name(j)
            category_color = cate.get_category_color(j)
            category_colors[category_name] = category_color
# Print the category colors of each object.
for object_id in object_categories:
    category_name = object_categories[object_id]
    object_category_color = category_colors[category_name]
    print(object_id, category_name, object_category_color)
c.communicate({"$type": "terminate"})

Note that SegmentationColors and Categories return only static data and do not need to be sent per-frame.

Next: Depth maps (_depth and _depth_simple passes)

Return to the README

Example controllers:

  • category.py Example implementation of the _category pass and Categories output data.

Command API:

Output Data API: