CameraEquidistantProjectionTask

Translates data from a render node to the camera pipeline

Installation

To use this Node, you must enable omni.drivesim.sensor.nv.cam in the Extension Manager.

Inputs

Name

Type

Description

Default

width

uint

Image Width

1920

height

uint

Image Height

1208

gpuStreamIn

uint64

GPU Stream

0

cudaMipmappedArray

uint64

Ptr to a mipmapped texture

0

format

uint64

Render texture format

0

mipCount

uint

Image Height

0

LensDistCenterX

float

Distortion Center X Axis

0.0

LensDistCenterY

float

Distortion Center Y Axis

0.0

LensDistortionP0

float

Distortion Coefficent offset (In DW calibration always 0.0)

0.0

LensDistortionP1

float

Distortion Coefficent linear

0.0

LensDistortionP2

float

Distortion Coefficent square

0.0

LensDistortionP3

float

Distortion Coefficent cubic

0.0

LensDistortionP4

float

Distortion Coefficent power 4

0.0

SrcFOV

uint

Field of View which is projected to the image plane

0

embeddedTopLines

uint64

embedded lines for data at the top of the image

0

embeddedBottomLines

uint64

embedded lines for data at the bottom of the image

0

start

bool

start

False

simTime

double

simTime timestamp input as double in [ns]

0.0

hydraTime

double

hydra timestamp input as double in [ns]

0.0

Outputs

Name

Type

Description

Default

dest

uint64

Destination Buffer

gpuStreamOut

uint64

Cuda Stream

0

timecodeOut

int64

timecode/timestamp output

0