Merge pull request #735 from StanfordVL/fix/render_product

fix render_product syncing when updating camera width / height
StanfordVL · May 26, 2024 · 4c62f2e · 4c62f2e
2 parents 36bb9b7 + 9e98760
commit 4c62f2e
Showing 1 changed file with 22 additions and 0 deletions.
diff --git a/omnigibson/sensors/vision_sensor.py b/omnigibson/sensors/vision_sensor.py
@@ -588,6 +588,17 @@ def image_height(self, height):
         """
         width, _ = self._viewport.viewport_api.get_texture_resolution()
         self._viewport.viewport_api.set_texture_resolution((width, height))
+
+        # Also update render product and update all annotators
+        old_render_product = self._render_product
+        new_render_product = lazy.omni.replicator.core.create.render_product(self._prim_path, (width, height))
+        for annotator in self._annotators.values():
+            annotator.detach([old_render_product.path])
+            annotator.attach([new_render_product])
+
+        old_render_product.destroy()
+        self._render_product = new_render_product
+
         # Requires 3 updates to propagate changes
         for i in range(3):
             render()
@@ -610,6 +621,17 @@ def image_width(self, width):
         """
         _, height = self._viewport.viewport_api.get_texture_resolution()
         self._viewport.viewport_api.set_texture_resolution((width, height))
+
+        # Also update render product and update all annotators
+        old_render_product = self._render_product
+        new_render_product = lazy.omni.replicator.core.create.render_product(self._prim_path, (width, height))
+        for annotator in self._annotators.values():
+            annotator.detach([old_render_product.path])
+            annotator.attach([new_render_product])
+
+        old_render_product.destroy()
+        self._render_product = new_render_product
+
         # Requires 3 updates to propagate changes
         for i in range(3):
             render()