USD Schemas#

OmniLensDistortionFthetaAPI#

Defines properties for setting up a lensdistortion represented by the NVIDIA f-theta model.

Warning

This schema is deprecated and planned to be removed in future releases. Use OmniLensDistortionLutAPI for custom calibrated models.

  • omni:lensdistortion:ftheta:k0

  • omni:lensdistortion:ftheta:k1

  • omni:lensdistortion:ftheta:k2

  • omni:lensdistortion:ftheta:k3

  • omni:lensdistortion:ftheta:k4

  • omni:lensdistortion:ftheta:maxFov

omni:lensdistortion:ftheta:nominalHeight#

Height of the calibrated sensor

omni:lensdistortion:ftheta:nominalWidth#

Width of the calibrated sensor

omni:lensdistortion:ftheta:opticalCenter#

omni:lensdistortion:model#

OmniLensDistortionKannalaBrandtK3API#

Defines properties for setting up a lens distortion represented by Kannala-Brandt model.

Warning

This schema is deprecated and planned to be removed in future releases. Use OmniLensDistortionLutAPI for custom calibrated models.

  • omni:lensdistortion:kannalaBrandtK3:k0

  • omni:lensdistortion:kannalaBrandtK3:k1

  • omni:lensdistortion:kannalaBrandtK3:k2

  • omni:lensdistortion:kannalaBrandtK3:k3

  • omni:lensdistortion:kannalaBrandtK3:maxFov

omni:lensdistortion:kannalaBrandtK3:nominalHeight#

Height of the calibrated sensor

omni:lensdistortion:kannalaBrandtK3:nominalWidth#

Width of the calibrated sensor

omni:lensdistortion:kannalaBrandtK3:opticalCenter#

omni:lensdistortion:model#

OmniLensDistortionRadTanThinPrismAPI#

Defines properties for setting up a lensdistortion represented by a radial-tangent thin-prism model.

Warning

This schema is deprecated and planned to be removed in future releases. Use OmniLensDistortionLutAPI for custom calibrated models.

omni:lensdistortion:model#

  • omni:lensdistortion:radTanThinPrism:k0

  • omni:lensdistortion:radTanThinPrism:k1

  • omni:lensdistortion:radTanThinPrism:k2

  • omni:lensdistortion:radTanThinPrism:k3

  • omni:lensdistortion:radTanThinPrism:k4

  • omni:lensdistortion:radTanThinPrism:k5

  • omni:lensdistortion:radTanThinPrism:maxFov

omni:lensdistortion:radTanThinPrism:nominalHeight#

Height of the calibrated sensor

omni:lensdistortion:radTanThinPrism:nominalWidth#

Width of the calibrated sensor

omni:lensdistortion:radTanThinPrism:opticalCenter#

  • omni:lensdistortion:radTanThinPrism:p0

  • omni:lensdistortion:radTanThinPrism:p1

  • omni:lensdistortion:radTanThinPrism:s0

  • omni:lensdistortion:radTanThinPrism:s1

  • omni:lensdistortion:radTanThinPrism:s2

  • omni:lensdistortion:radTanThinPrism:s3

OmniLensDistortionLutAPI#

Defines lens distortion by a pre-generated lookup table, allowing any model to be mapped to the RTX camera by generating two lookup tables, one for the ray entering, one for the ray leaving, which are used by the renderer to transform rays entering or leaving the lens system.

Use the example script provided to see how to convert a custom lens model to the table format.

omni:lensdistortion:lut:nominalHeight#

Height of the calibrated sensor

omni:lensdistortion:lut:nominalWidth#

Width of the calibrated sensor

omni:lensdistortion:lut:opticalCenter#

omni:lensdistortion:lut:rayEnterDirectionTexture#

Lookup table stored as an RGB image file where each RGB pixel value is the XYZ direction of rays entering the lens system in local camera space.

omni:lensdistortion:lut:rayExitPositionTexture#

Lookup table stored as an RGB image file where each RG pixel value is the [0, 1] U,V coordinate in normalized screen space where the ray for that pixel is emitted from on the image plane.

omni:lensdistortion:model#

OmniLensDistortionOmniDirectionalStereoAPI#

Defines properties for Omni-Directional Stereo (ODS) camera projection. This schema configures a single-eye ODS camera. isLeftEye selects the eye: true for the left eye, false for the right eye. interpupillaryDistance (IPD, meters) sets eye separation, with symmetric offsets of -IPD / 2 for left and +IPD / 2 for right. A stereo ODS output can be composed from separate left/right-eye cameras, commonly stacked vertically (top/bottom).

omni:lensdistortion:model#

Allowed token: omniDirectionalStereo

omni:lensdistortion:omniDirectionalStereo:isLeftEye#

Whether this camera represents the left eye in the stereo pair.

omni:lensdistortion:omniDirectionalStereo:interpupillaryDistance#

Interpupillary distance (IPD), also known as distance between the eyes, in meters.

OmniLensDistortionOpenCvFisheyeAPI#

Defines properties for applying the OpenCV fisheye model.

omni:lensdistortion:model#

  • omni:lensdistortion:opencvFisheye:cx

  • omni:lensdistortion:opencvFisheye:cy

  • omni:lensdistortion:opencvFisheye:fx

  • omni:lensdistortion:opencvFisheye:fy

omni:lensdistortion:opencvFisheye:imageSize#

Size of the image in pixels

  • omni:lensdistortion:opencvFisheye:k1

  • omni:lensdistortion:opencvFisheye:k2

  • omni:lensdistortion:opencvFisheye:k3

  • omni:lensdistortion:opencvFisheye:k4

OmniLensDistortionOpenCvPinholeAPI#

Defines properties for applying the OpenCV pinhole model.

omni:lensdistortion:model#

  • omni:lensdistortion:opencvPinhole:cx

  • omni:lensdistortion:opencvPinhole:cy

  • omni:lensdistortion:opencvPinhole:fx

  • omni:lensdistortion:opencvPinhole:fy

omni:lensdistortion:opencvPinhole:imageSize#

Size of the image in pixels

  • omni:lensdistortion:opencvPinhole:k1

  • omni:lensdistortion:opencvPinhole:k2

  • omni:lensdistortion:opencvPinhole:p1

  • omni:lensdistortion:opencvPinhole:p2

  • omni:lensdistortion:opencvPinhole:k3

  • omni:lensdistortion:opencvPinhole:k4

  • omni:lensdistortion:opencvPinhole:k5

  • omni:lensdistortion:opencvPinhole:k6

  • omni:lensdistortion:opencvPinhole:s1

  • omni:lensdistortion:opencvPinhole:s2

  • omni:lensdistortion:opencvPinhole:s3

  • omni:lensdistortion:opencvPinhole:s4