Simulation of surface water and depth estimation

[AlexBodner]

Hi!
Really impressive work. I was wondering if OceanSim is useful for generating synthetic data of the ocean surface and waves, and if I in this simulation I have access to a pointcloud of the surface (in order to measure distance to each point in the surface and develop computer vision methods)
Best regards,
Alex

[haoyuma2002814]

Yes.
You may access the point cloud data by following the Warp example of Ocean deformation.
We also provide a USD scene with water surface in the assets folder.

[nikky4D]

This is interesting. Would it be possible to generate synthetic data of imaging through water surface, such generating synthetic data of looking from underwater to above water, or looking from above water to underwater?

[haoyuma2002814]

Generating above-water-view data is possible, the material assigned to the water surface mesh can be configured with different IOR and color. You may need to do some settings in annotators so that camera can capture refracted underwater effects while giving correct semantics of the object.
In terms of looking from below water, current underwater rendering pipeline we implemented does not guarantee fidelity.

[AlexBodner]

Yes. You may access the point cloud data by following the Warp example of Ocean deformation. We also provide a USD scene with water surface in the assets folder.

Thanks for your answer. I couldn't find the warp example of ocean deformation, could you point it out?
Also, do you have any link on how to use warp with IsaacSim?
Lastly, how do I change the scenario in order to be placed in an "open" world and not in the sensor example one.

Best,
Alex

[haoyuma2002814]

You can find the ocean deformation example in Nvidia Warp exts/omni.warp/omni/warp/nodes/_impl/OgnSampleOceanDeform.py
In OceanSim, we used that node but didn't alter any code in there.