Overview#

The omni.sensors.nv.ids extension provides an idealized depth sensor simulation model that generates synthetic depth data through ray tracing. Unlike realistic sensor models that account for physical limitations and noise, this extension produces perfect depth measurements by simulating an ideal sensor that can accurately measure distances to surfaces without optical aberrations, measurement uncertainty, or environmental interference.

Functionality#

The extension operates through a batched ray tracing workflow where sensor firings are processed in groups to generate depth returns. Each trace session spans a defined time window with specified sensor motion parameters, allowing for simulation of moving sensors across dynamic scenes. The model handles GPU-accelerated computation through CUDA integration and provides configurable scratch buffer management for optimal memory usage during ray tracing operations.

The simulation generates both raw depth output and associated metadata, making it suitable for applications requiring ground truth depth data for algorithm validation, synthetic dataset generation, or sensor performance benchmarking where idealized measurements serve as a reference baseline.

OmniGraph Nodes In This Extension