#usda 1.0 ( doc = "Generated from the Velodyne VLS-128 User Manual (63-9483 Rev. 2) and Alpha Prime datasheet (63-9679 Rev-B)." metersPerUnit = 1 upAxis = "Z" defaultPrim = "Velodyne_Alpha_Prime_Rev4" ) def OmniLidar "Velodyne_Alpha_Prime_Rev4" ( doc = """Velodyne Alpha Prime (VLS-128) nominal 10 Hz profile. The emitter geometry and timing are from the user manual. Range, detection, accuracy, and wavelength values are from the Rev-B product datasheet.""" prepend apiSchemas = ["OmniSensorGenericLidarCoreAPI"] ) { string omni:sensor:modelName = "LidarCore" string omni:sensor:modelVersion = "0.0.0" string omni:sensor:modelVendor = "NVIDIA" string omni:sensor:marketName = "Velodyne Alpha Prime Rev 4 (VLS-128)" float omni:sensor:tickRate = 10.0 uint omni:sensor:Core:scanRateBaseHz = 10 uint omni:sensor:Core:patternFiringRateHz = 18760 token omni:sensor:Core:scanType = "ROTARY" token omni:sensor:Core:rotationDirection = "CW" token omni:sensor:Core:rayType = "IDEALIZED" float omni:sensor:Core:validStartAzimuthDeg = 0.0 float omni:sensor:Core:validEndAzimuthDeg = 360.0 float omni:sensor:Core:startAzimuthOffsetDeg = 270.0 # The public sources do not state the minimum range. Retain the generic # model's 0.3 m starting value until it can be checked against sensor data. float omni:sensor:Core:nearRangeM = 0.3 float omni:sensor:Core:farRangeM = 300.0 float omni:sensor:Core:rangeResolutionM = 0.004 float omni:sensor:Core:rangeAccuracyM = 0.03 # The datasheet publishes two detection points. Use the farther point for # the generic model's single threshold anchor and validate 5% at 180 m. float omni:sensor:Core:minReflectance = 0.10 float omni:sensor:Core:minReflectionRangeM = 300.0 float omni:sensor:Core:waveLengthNm = 905.0 float omni:sensor:Core:divergenceHorDeg = 0.1197482 float omni:sensor:Core:divergenceVerDeg = 0.06016057 token omni:sensor:Core:intensityProcessing = "NORMALIZATION" token omni:sensor:Core:intensityMappingType = "LINEAR" float omni:sensor:Core:intensityScalePercent = 255.0 # These radiometric values are generic-model starting points, not # published Alpha Prime specifications. Calibrate them against real data. float omni:sensor:Core:peakPowerW = 10.0 uint omni:sensor:Core:pulseTimeNs = 6 float omni:sensor:Core:reflectionPowerFraction = 0.5 uint omni:sensor:Core:maxReturns = 2 float omni:sensor:Core:minDistBetweenEchosM = 1.0 uint omni:sensor:Core:numberOfEmitters = 128 uint omni:sensor:Core:numberOfChannels = 128 uint omni:sensor:Core:rangeCount = 1 float[] omni:sensor:Core:rangesMinM = [0.3] float[] omni:sensor:Core:rangesMaxM = [300.0] uint omni:sensor:Core:stateResolutionStep = 1 # The public documents do not define angular-noise distributions. Start # without synthetic jitter and add measured noise during calibration. float omni:sensor:Core:azimuthErrorMean = 0.0 float omni:sensor:Core:azimuthErrorStd = 0.0 float omni:sensor:Core:elevationErrorMean = 0.0 float omni:sensor:Core:elevationErrorStd = 0.0 # Values are the manual's AziOffset values. startAzimuthOffsetDeg maps the # manual's zero-azimuth +Y axis into the simulation sensor frame. float[] omni:sensor:Core:emitterState:s001:azimuthDeg = [ -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354, -6.354, -4.548, -2.732, -0.911, 0.911, 2.732, 4.548, 6.354 ] float[] omni:sensor:Core:emitterState:s001:elevationDeg = [ -11.742, -1.99, 3.4, -5.29, -0.78, 4.61, -4.08, 1.31, -6.5, -1.11, 4.28, -4.41, 0.1, 6.48, -3.2, 2.19, -3.86, 1.53, -9.244, -1.77, 2.74, -5.95, -0.56, 4.83, -2.98, 2.41, -6.28, -0.89, 3.62, -5.07, 0.32, 7.58, -0.34, 5.18, -3.64, 1.75, -25.0, -2.43, 2.96, -5.73, 0.54, 9.7, -2.76, 2.63, -7.65, -1.55, 3.84, -4.85, 3.18, -5.51, -0.12, 5.73, -4.3, 1.09, -16.042, -2.21, 4.06, -4.63, 0.76, 15.0, -3.42, 1.97, -6.85, -1.33, -5.62, -0.23, 5.43, -3.53, 0.98, -19.582, -2.32, 3.07, -4.74, 0.65, 11.75, -2.65, 1.86, -7.15, -1.44, 3.95, -2.1, 3.29, -5.4, -0.01, 4.5, -4.19, 1.2, -13.565, -1.22, 4.17, -4.52, 0.87, 6.08, -3.31, 2.08, -6.65, 1.42, -10.346, -1.88, 3.51, -6.06, -0.67, 4.72, -3.97, 2.3, -6.39, -1.0, 4.39, -5.18, 0.21, 6.98, -3.09, 4.98, -3.75, 1.64, -8.352, -2.54, 2.85, -5.84, -0.45, 8.43, -2.87, 2.52, -6.17, -1.66, 3.73, -4.96, 0.43 ] # All emitter origins use the manual's data origin, 66.11 mm above the # mechanical sensor base represented by the OmniLidar prim. float[] omni:sensor:Core:emitterState:s001:vertOffsetM = [ 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611, 0.06611 ] uint[] omni:sensor:Core:emitterState:s001:fireTimeNs = [ 0, 0, 0, 0, 0, 0, 0, 0, 2665, 2665, 2665, 2665, 2665, 2665, 2665, 2665, 5330, 5330, 5330, 5330, 5330, 5330, 5330, 5330, 7995, 7995, 7995, 7995, 7995, 7995, 7995, 7995, 10660, 10660, 10660, 10660, 10660, 10660, 10660, 10660, 13325, 13325, 13325, 13325, 13325, 13325, 13325, 13325, 15990, 15990, 15990, 15990, 15990, 15990, 15990, 15990, 18655, 18655, 18655, 18655, 18655, 18655, 18655, 18655, 23985, 23985, 23985, 23985, 23985, 23985, 23985, 23985, 26650, 26650, 26650, 26650, 26650, 26650, 26650, 26650, 29315, 29315, 29315, 29315, 29315, 29315, 29315, 29315, 31980, 31980, 31980, 31980, 31980, 31980, 31980, 31980, 34645, 34645, 34645, 34645, 34645, 34645, 34645, 34645, 37310, 37310, 37310, 37310, 37310, 37310, 37310, 37310, 39975, 39975, 39975, 39975, 39975, 39975, 39975, 39975, 42640, 42640, 42640, 42640, 42640, 42640, 42640, 42640 ] # The manual and PointCloud output use zero-based channel IDs. LidarCore # input is one-based, so authored ID n + 1 maps to manual/output ID n. # Array order remains manual channel and figure laser-ID order. uint[] omni:sensor:Core:emitterState:s001:channelId = [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128 ] uint[] omni:sensor:Core:emitterState:s001:rangeId = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ] def RenderProduct "RenderedOutputs" { uniform int2 resolution = (1280, 720) rel camera = <../../Velodyne_Alpha_Prime_Rev4> # This example exposes both common output formats for convenience. # Applications typically retain either GenericModelOutput or PointCloud # and remove the unused target from orderedVars. Configure only the # channels needed by the selected output. rel orderedVars = [ , ] def Scope "SupportedOutputs" { def RenderVar "RtxSensorGmo" ( prepend apiSchemas = ["RenderVarChannelsAPI"] ) { uniform string sourceName = "GenericModelOutput" # Select one auxiliary-data preset: NONE, BASIC, EXTRA, or FULL. string[] channels = ["EXTRA"] } def RenderVar "PointCloud" ( prepend apiSchemas = ["RenderVarChannelsAPI"] ) { string sourceName = "PointCloud" # Request individual PointCloud channels as needed. string[] channels = ["Coordinates", "Intensity", "TimeOffsetNs", "EmitterId", "ChannelId", "EchoId"] } } } }