Pass CameraData to read_output

Author: nvsekkin

source/isaaclab/isaaclab/renderers/base_renderer.py

@@ -93,33 +93,17 @@ def render(self, render_data: Any) -> None:
         pass
 
     @abstractmethod
-    def write_output(self, render_data: Any, output_name: str, output_data: torch.Tensor) -> None:
-        """Write a specific output type to the given buffer.
+    def read_output(self, render_data: Any, output_name: str, camera_data: Any) -> None:
+        """Read a named output from the renderer into the camera data container.
 
-        Args:
-            render_data: The render data object from :meth:`create_render_data`.
-            output_name: Name of the output (e.g. ``"rgba"``, ``"depth"``).
-            output_data: Pre-allocated tensor to write the output into.
-        """
-        pass
-
-    @abstractmethod
-    def get_output_info(self, render_data: Any) -> dict[str, Any] | None:
-        """Return static metadata collected during rendering.
-
-        Renderers that produce metadata (e.g. semantic segmentation label
-        mappings) return a dictionary mapping output names to their metadata.
-        The returned dictionary is written once into :attr:`CameraData.info`
-        after the first render and is not queried again.
-
-        Renderers that do not produce metadata should return ``None``.
+        Implementations should populate ``camera_data.output[output_name]`` with
+        rendered data and, when available, other metadata (ex. ``camera_data.info``).
 
         Args:
             render_data: The render data object from :meth:`create_render_data`.
-
-        Returns:
-            A dictionary mapping output names to their metadata, or ``None``
-            if the renderer does not produce metadata.
+            output_name: Name of the output (e.g. ``"rgba"``, ``"depth"``).
+            camera_data: The :class:`~isaaclab.sensors.camera.camera_data.CameraData`
+                instance to populate.
         """
         pass
 

source/isaaclab/isaaclab/sensors/camera/camera.py

@@ -445,7 +445,6 @@ def _initialize_impl(self):
 
         # View needs to exist before creating render data
         self.render_data = self.renderer.create_render_data(self)
-        self._renderer_info_populated = False
 
         # Create internal buffers (includes intrinsic matrix and pose init)
         self._create_buffers()
@@ -463,18 +462,10 @@ def _update_buffers_impl(self, env_mask: wp.array):
         self.renderer.update_transforms()
         self.renderer.render(self.render_data)
 
-        for output_name, output_data in self._data.output.items():
+        for output_name in self._data.output:
             if output_name == "rgb":
                 continue
-            self.renderer.write_output(self.render_data, output_name, output_data)
-
-        if not self._renderer_info_populated:
-            renderer_info = self.renderer.get_output_info(self.render_data)
-            if renderer_info:
-                for data_type, metadata in renderer_info.items():
-                    for cam_idx in range(self._view.count):
-                        self._data.info[cam_idx][data_type] = metadata
-                self._renderer_info_populated = True
+            self.renderer.read_output(self.render_data, output_name, self._data)
 
     """
     Private Helpers

source/isaaclab/test/renderers/test_renderer_factory.py

@@ -46,12 +46,9 @@ def update_camera(self, render_data, positions, orientations, intrinsics):
         def render(self, render_data):
             pass
 
-        def write_output(self, render_data, output_name, output_data):
+        def read_output(self, render_data, output_name, camera_data):
             pass
 
-        def get_output_info(self, render_data):
-            return None
-
         def cleanup(self, render_data):
             pass
 

source/isaaclab_newton/isaaclab_newton/renderers/newton_warp_renderer.py

@@ -25,6 +25,7 @@
 if TYPE_CHECKING:
     from isaaclab.physics import BaseSceneDataProvider
     from isaaclab.sensors import SensorBase
+    from isaaclab.sensors.camera.camera_data import CameraData
 
 logger = logging.getLogger(__name__)
 
@@ -223,16 +224,12 @@ def render(self, render_data: RenderData):
             shape_index_image=render_data.outputs.instance_segmentation_image,
         )
 
-    def get_output_info(self, render_data: RenderData) -> dict[str, Any] | None:
-        """No metadata for Newton Warp.
-        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.get_output_info`."""
-        return None
-
-    def write_output(self, render_data: RenderData, output_name: str, output_data: torch.Tensor):
-        """Copy a specific output to the given buffer.
-        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.write_output`."""
+    def read_output(self, render_data: RenderData, output_name: str, camera_data: CameraData) -> None:
+        """Copy a specific output to the camera data buffer.
+        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.read_output`."""
         image_data = render_data.get_output(output_name)
         if image_data is not None:
+            output_data = camera_data.output[output_name]
             if image_data.ptr != output_data.data_ptr():
                 wp.copy(wp.from_torch(output_data), image_data)
 

source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py

@@ -59,6 +59,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.sensors import SensorBase
+    from isaaclab.sensors.camera.camera_data import CameraData
 
 
 class OVRTXRenderData:
@@ -387,21 +388,17 @@ def update_camera(
                 wp_transforms_view = wp.from_dlpack(attr_mapping.tensor, dtype=wp.mat44d)
                 wp.copy(wp_transforms_view, camera_transforms)
 
-    def get_output_info(self, render_data: OVRTXRenderData) -> dict[str, Any] | None:
-        """No metadata for OVRTX.
-        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.get_output_info`."""
-        return None
-
-    def write_output(
+    def read_output(
         self,
         render_data: OVRTXRenderData,
         output_name: str,
-        output_data: torch.Tensor,
+        camera_data: CameraData,
     ) -> None:
-        """Copy from render_data warp buffer to output tensor."""
+        """Copy from render_data warp buffer to camera data output tensor."""
         if output_name not in render_data.warp_buffers:
             return
         src = render_data.warp_buffers[output_name]
+        output_data = camera_data.output[output_name]
         if src.ptr != output_data.data_ptr():
             wp.copy(dest=wp.from_torch(output_data), src=src)
 

source/isaaclab_physx/isaaclab_physx/renderers/isaac_rtx_renderer.py

@@ -29,6 +29,7 @@
 
 if TYPE_CHECKING:
     from isaaclab.sensors import SensorBase
+    from isaaclab.sensors.camera.camera_data import CameraData
 
     from .isaac_rtx_renderer_cfg import IsaacRtxRendererCfg
 
@@ -326,15 +327,13 @@ def tiling_grid_shape():
                     0.0 if cfg.depth_clipping_behavior == "zero" else cfg.spawn.clipping_range[1]
                 )
 
-    def get_output_info(self, render_data: IsaacRtxRenderData) -> dict[str, Any] | None:
-        """Return segmentation label mappings collected during render().
-        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.get_output_info`."""
-        return render_data.renderer_info
-
-    def write_output(self, render_data: IsaacRtxRenderData, output_name: str, output_data: torch.Tensor):
-        """No-op for Isaac RTX - all outputs written in render().
-        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.write_output`."""
-        pass
+    def read_output(self, render_data: IsaacRtxRenderData, output_name: str, camera_data: CameraData) -> None:
+        """Populate per-output metadata collected during render(). Pixel data already written in render().
+        See :meth:`~isaaclab.renderers.base_renderer.BaseRenderer.read_output`."""
+        info = render_data.renderer_info.get(output_name)
+        if info is not None:
+            for cam_info in camera_data.info:
+                cam_info[output_name] = info
 
     def cleanup(self, render_data: IsaacRtxRenderData | None):
         """Detach annotators from render product.