Omni Sensors Schema#
Typed Schemas#
OmniSensor#
Transformable sensor
Describes minimal set of common sensor params (extrinsics). Mainly for semantic purposes and for identifying sensors programmatically on the stage.
Inherits from: Xformable
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
proxyPrim |
rel |
The proxyPrim relationship allows us to link a prim whose purpose is “render” to its (single target) purpose=”proxy” prim. This is entirely optional, but can be useful in several scenarios: * In a pipeline that does pruning (for complexity management) by deactivating prims composed from asset references, when we deactivate a purpose=”render” prim, we will be able to discover and additionally deactivate its associated purpose=”proxy” prim, so that preview renders reflect the pruning accurately. * DCC importers may be able to make more aggressive optimizations for interactive processing and display if they can discover the proxy for a given render prim. * With a little more work, a Hydra-based application will be able to map a picked proxy prim back to its render geometry for selection. .. note:: It is only valid to author the proxyPrim relationship on prims whose purpose is “render”. |
|
purpose |
token |
“default” |
Allowed tokens: “default”, “render”, “proxy”, “guide” Purpose is a classification of geometry into categories that can each be independently included or excluded from traversals of prims on a stage, such as rendering or bounding-box computation traversals. See for more detail about how purpose is computed and used. |
visibility |
token |
“inherited” |
Allowed tokens: “inherited”, “invisible” Visibility is meant to be the simplest form of “pruning” visibility that is supported by most DCC apps. Visibility is animatable, allowing a sub-tree of geometry to be present for some segment of a shot, and absent from others; unlike the action of deactivating geometry prims, invisible geometry is still available for inspection, for positioning, for defining volumes, etc. |
xformOpOrder |
token[] |
None |
Encodes the sequence of transformation operations in the order in which they should be pushed onto a transform stack while visiting a UsdStage’s prims in a graph traversal that will effect the desired positioning for this prim and its descendant prims. You should rarely, if ever, need to manipulate this attribute directly. It is managed by the AddXformOp(), SetResetXformStack(), and SetXformOpOrder(), and consulted by GetOrderedXformOps() and GetLocalTransformation(). |
OmniRadar#
Typed schema representing a radar sensor, has all attributes of its base class
Inherits from: OmniSensor
OmniLidar#
Typed schema representing a lidar sensor, has all attributes of its base class
Inherits from: OmniSensor
OmniAcoustic#
Typed schema representing an acoustic sensor, has all attributes of its base class
Inherits from: OmniSensor
OmniGeneralSensor#
Fallback schema for sensor types we haven’t considered yet, but a user might want to specify, e.g. gravity wave sensor, has all attributes of its base class (currently not in use)
Inherits from: OmniSensor
OmniTime#
Inherits from: Typed
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:time |
timecode |
0 |
API Schemas#
OmniSensorAPI#
This schema defines attributes necessary to specify a sensor model as a trio of model name, version and vendor. Model implementations are expected to prepend this schema and set those attributes to the model they represent.
Inherits from: APISchemaBase
Can only apply to: OmniSensor, Camera
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:marketName |
string |
“” |
Specifies the sensor market marketName for this sensor. |
omni:sensor:modelName |
string |
“” |
Specifies the model to be used for evaluating this sensor. The special string ‘latest’ is reserved as a hint to the simulation to use the latest best model for this marketName. |
omni:sensor:modelVersion |
string |
“” |
Specifies the version of the model to be used for evaluating this sensor. The special string ‘latest’ is reserved as a hint to the simulation to use the latest available version of the model. |
omni:sensor:modelVendor |
string |
“” |
Specifies the vendor that authored the given model. |
omni:sensor:tickRate |
float |
0.0 |
Tick rate of the sensor in XXX. Note that this is a hint to the simulation about the expected rate at which the sensor should be ticked, it does not in itself drive the ticking of the sensor. |
OmniSensorEncryptionAPI#
This schema defines attributes necessary to specify encrypted parameters for a sensor model.
Inherits from: APISchemaBase
Can only apply to: OmniSensor
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:encryption:params |
uchar[] |
[] |
Blob of bytes that represents an encrypted parameters that the specified model will understand. If filled, the decrypted parameters trump any parameters specified in USD. |
RenderVarChannelsAPI#
API schema declaring the channels selector on a RenderVar.
The channels attribute selects which output channels a producer should populate for this RenderVar. Valid values depend on the RenderVar’s sourceName and are interpreted by the producing plugin:
- sourceName = “GenericModelOutput”:
radar supports “NONE” and “BASIC”; valid values for other sensor modalities are documented by their RenderVar producer
- Lidar granular PointCloud:
“Coordinates”, “Intensity”, “TimeOffsetNs”, “Flags”
- Radar granular PointCloud:
“Coordinates”, “RCS”, “TimeOffsetNs”, “RadialVelocityMs”, “Flags”
- Acoustic granular outputs:
“rtxsensorMetadata”, “transmitterIds”, “receiverIds”, “channelIds”, “amplitudes”, and other modality-specific names
The attribute is intentionally typed as string[] (not token[]) to match the runtime contract, which reads the value as a string array. Allowed values are documented here rather than enforced with allowedTokens because the valid set depends on sourceName.
Inherits from: APISchemaBase
Can only apply to: RenderVar
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
channels |
string[] |
[] |
Selector for which channels the producing plugin should populate for this RenderVar. See the schema-level documentation for the set of valid values per sourceName. |
OmniSensorGenericLidarCoreEmitterStateAPI#
API Defines generic lidar emitter state
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:Core:emitterState
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
azimuthDeg |
float[] |
[-3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3] |
Azimuth of the emitters in degrees; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
elevationDeg |
float[] |
[-15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10, -15, -14.19, -13.39, -12.58, -11.77, -10.97, -10.16, -9.35, -8.55, -7.74, -6.94, -6.13, -5.32, -4.52, -3.71, -2.9, -2.1, -1.29, -0.48, 0.32, 1.13, 1.94, 2.74, 3.55, 4.35, 5.16, 5.97, 6.77, 7.58, 8.39, 9.19, 10] |
Elevation of the emitters in degrees; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
fireTimeNs |
uint[] |
[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 3500, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 7000, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 10500, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 14000, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 17500, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 21000, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500, 24500] |
Fire time of the emitters in ns – delta to the azimuth tick start time; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
channelId |
uint[] |
[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] |
Corresponding channel id of the emitters; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
rangeId |
uint[] |
[] |
Corresponding range id of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
vertOffsetM |
float[] |
[] |
Vertical offset of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
horOffsetM |
float[] |
[] |
Horizontal offset of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
distanceCorrectionM |
float[] |
[] |
Distance correction of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
focalDistM |
float[] |
[] |
Focal distance of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
focalSlope |
float[] |
[] |
Focal slope of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
emitterPeakPowerW |
float[] |
[] |
Peak power of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
bank |
uint[] |
[] |
Bank/line of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
roi |
bool[] |
[] |
Is the emitter part of the ROI; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
isROIState |
bool |
false |
Is the emitter state a ROI state |
OmniSensorGenericLidarCoreAPI#
API Defines generic lidar using Core model
Inherits from: APISchemaBase
Can only apply to: OmniLidar
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
OmniSensorGenericLidarCoreEmitterStateAPI:s001
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:modelName |
string |
“LidarCore” |
|
omni:sensor:modelVersion |
string |
“0.0.0” |
|
omni:sensor:modelVendor |
string |
“NVIDIA” |
|
omni:sensor:marketName |
string |
“Generic” |
|
omni:sensor:tickRate |
float |
10 |
|
omni:sensor:Core:elementsCoordsType |
token |
“SPHERICAL” |
Allowed tokens: “CARTESIAN”, “SPHERICAL” sets the desired coordinate system for the output basic elements (not auxiliary data)); Runtime changes not supported, yet. |
omni:sensor:Core:outputMotionCompensationState |
token |
“NONCOMPENSATED” |
Allowed tokens: “NONCOMPENSATED”, “COMPENSATED” Sets the desired output motion compensation state for all outputs, including auxiliary data. NONCOMPENSATED reports detections without per-point compensation for sensor motion during the scan. COMPENSATED uses point timestamps and sensor motion to compensate output coordinates into the requested output frame. This output setting does not enable renderer Motion BVH by itself. |
omni:sensor:Core:outputFrameOfReference |
token |
“SENSOR” |
Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM” sets the desired frame of reference for all outputs (including auxiliary data); Runtime changes not supported, yet. |
omni:sensor:Core:customFrameOfReferenceTrafo |
float[] |
[0,0,0,0,0,0] |
used only if outputFrameOfReference = CUSTOM. defines the transformation for the custom frame of reference. structured as [x,y,z,roll,pitch,yaw]; Runtime changes not supported, yet. |
omni:sensor:Core:skipDroppingInvalidPoints |
bool |
false |
when false the model will drop invalid points; Runtime changes not supported, yet. |
omni:sensor:Core:accumulateOutputs |
bool |
false |
when true the model will accumulate the outputs until one scan is complete. |
omni:sensor:Core:instantLidar |
bool |
false |
when true the model produce one full scan at frame end timepoint disregarding actual timing and scan rates. |
omni:sensor:Core:scanType |
token |
“ROTARY” |
Allowed tokens: “ROTARY”, “SOLID_STATE” Scanning principle of the sensor; Runtime changes not supported, yet. |
omni:sensor:Core:intensityProcessing |
token |
“NORMALIZATION” |
Allowed tokens: “RAW”, “NORMALIZATION”, “CORRECTION” Intensity processing mode |
omni:sensor:Core:rotationDirection |
token |
“CW” |
Allowed tokens: “CW”, “CCW” Rotation direction of the sensor – only for rotary sensors |
omni:sensor:Core:rayType |
token |
“IDEALIZED” |
Allowed tokens: “IDEALIZED”, “GAUSSIAN_BEAM”, “UNIFORM_BEAM” Ray type of the sensor; Runtime changes not supported, yet. |
omni:sensor:Core:nearRangeM |
float |
0.3 |
Minimum range of the sensor in meters |
omni:sensor:Core:farRangeM |
float |
200.0 |
Maximum range of the sensor in meters |
omni:sensor:Core:reflectionPowerFraction |
float |
0.5 |
Fraction of the reflection power for multiple returns. |
omni:sensor:Core:transmissionPowerFraction |
float |
1.0 |
Fraction of the transmission power for multiple returns. |
omni:sensor:Core:startAzimuthOffsetDeg |
float |
0.0 |
Start azimuth offset angle of the sensor in degrees – in sensor market model frame |
omni:sensor:Core:validStartAzimuthDeg |
float |
0.0 |
Valid start azimuth angle of the sensor in degrees – in sensor market model frame |
omni:sensor:Core:validEndAzimuthDeg |
float |
360.0 |
Valid end azimuth angle of the sensor in degrees – in sensor market model frame |
omni:sensor:Core:minAzimuthROI |
float |
400.0 |
Start azimuth of the region-of-interest interval in degrees, in sensor market model frame. Together with maxAzimuthROI, this interval controls where ROI-tagged emitter states participate in a rotary firing pattern; it does not define the general field of view. The default value of 400 indicates that no ROI is configured. If minAzimuthROI > maxAzimuthROI, the interval wraps through 360 degrees. |
omni:sensor:Core:maxAzimuthROI |
float |
400.0 |
End azimuth of the region-of-interest interval in degrees, in sensor market model frame. See minAzimuthROI for how the interval controls ROI-tagged firing patterns. |
omni:sensor:Core:rangeResolutionM |
float |
0.004 |
Distance quantization step in meters used by vendor packet encoders that consume the profile resolution. This attribute does not add random error to direct GenericModelOutput or PointCloud coordinates; use rangeAccuracyM for simulated range uncertainty. |
omni:sensor:Core:rangeAccuracyM |
float |
0.02 |
Range error scale in meters. The model uses this to add distance-dependent Gaussian range uncertainty; uncertainty grows with distance relative to farRangeM. |
omni:sensor:Core:minDistBetweenEchosM |
float |
0.4 |
Minimum distance between two resolvable echos in meters |
omni:sensor:Core:rangeOffsetM |
float |
0.0 |
Range for which objects are invisible – useful for sensors inside objects |
omni:sensor:Core:peakPowerW |
float |
10.0 |
Peak emitted optical power per emitter in watts. It contributes to returned irradiance and intensity processing. |
omni:sensor:Core:minReflectance |
float |
0.1 |
Minimum reflectance value of an object for a guarantueed Pointcloud at minReflectionRange |
omni:sensor:Core:minReflectionRangeM |
float |
200.0 |
Minimum range for a guaranteed detection of an object with minReflectance |
omni:sensor:Core:waveLengthNm |
float |
903.0 |
Emitter wavelength in nanometers. It affects photon/count conversion and material spectral response. |
omni:sensor:Core:pulseTimeNs |
uint |
6 |
Beam pulse duration in nanoseconds. It scales received photon counts and contributes to down-range return separation. |
omni:sensor:Core:focusDistM |
float |
0.15 |
Focus distance of the sensor in meters |
omni:sensor:Core:Msquared |
float |
1.4 |
M squared value of the sensor |
omni:sensor:Core:beamWaistHorM |
float |
0.002 |
Beam waist horizontal of the sensor in meters |
omni:sensor:Core:beamWaistVerM |
float |
0.002 |
Beam waist vertical of the sensor in meters |
omni:sensor:Core:divergenceHorDeg |
float |
0.0 |
Divergence horizontal of the sensor in degrees |
omni:sensor:Core:divergenceVerDeg |
float |
0.0 |
Divergence vertical of the sensor in degrees |
omni:sensor:Core:aspectRatio |
float |
1.0 |
Aspect ratio of the detector |
omni:sensor:Core:effectiveApertureSizeM |
float |
0.01 |
Effective aperture size of the sensor in meters |
omni:sensor:Core:quantumEfficiency |
float |
0.9 |
Quantum efficiency of the detector |
omni:sensor:Core:pixelPitch |
float |
40.0 |
Pixel pitch of the detector |
omni:sensor:Core:calibrationGain |
float |
40.0 |
Calibration gain of the sensor |
omni:sensor:Core:bitDepthResolution |
float |
65536.0 |
Bit depth resolution of the sensor |
omni:sensor:Core:scanRateBaseHz |
uint |
10 |
Number of complete scans produced per second. |
omni:sensor:Core:patternFiringRateHz |
uint |
36000 |
Number of firing-pattern ticks scheduled per second. For rotary Lidar, a complete scan uses integer division patternFiringRateHz / scanRateBaseHz ticks. Choose a firing rate divisible by scanRateBaseHz to avoid truncating the configured cadence at scan boundaries. |
omni:sensor:Core:numberOfEmitters |
uint |
128 |
Number of emitters of the sensor; Runtime changes not supported, yet. |
omni:sensor:Core:numberOfChannels |
uint |
128 |
Number of channels of the sensor; Runtime changes not supported, yet. |
omni:sensor:Core:maxReturns |
uint |
2 |
Maximum number of returns or detections per channel. |
omni:sensor:Core:azimuthErrorMean |
float |
0.0 |
Mean value of the azimuth error in degrees |
omni:sensor:Core:azimuthErrorStd |
float |
0.005 |
Standard deviation of the azimuth error in degrees |
omni:sensor:Core:elevationErrorMean |
float |
0.0 |
Mean value of the elevation error in degrees |
omni:sensor:Core:elevationErrorStd |
float |
0.0 |
Standard deviation of the elevation error in degrees |
omni:sensor:Core:originErrorMean |
float[] |
[0.0,0.0,0.0] |
Mean value of the origin error in meters |
omni:sensor:Core:originErrorStd |
float[] |
[0.0,0.0,0.0] |
Standard deviation of the origin error in meters |
omni:sensor:Core:intensityMappingType |
token |
“LINEAR” |
Allowed tokens: “LINEAR”, “NONLINEAR”, “NONLINEAR_ENCODING_ONLY”, “NONLINEAR_DECODING_ONLY” Intensity mapping type |
omni:sensor:Core:intensityScalePercent |
float |
255.0 |
Intensity scale percent |
omni:sensor:Core:intensityMappingEncoding |
float[] |
[] |
Intensity mapping encoding; Changing the number of elements at runtime is not supported. |
omni:sensor:Core:intensityMappingDecoding |
float[] |
[] |
Intensity mapping decoding; Changing the number of elements at runtime is not supported. |
omni:sensor:Core:numLines |
uint |
0 |
Number of lines of the sensor; Runtime changes not supported, yet. |
omni:sensor:Core:numRaysPerLine |
uint[] |
[] |
Number of points per line of the sensor; Has numLines elements; Changing the number of elements at runtime is not supported. |
omni:sensor:Core:rangeCount |
uint |
0 |
Number of range regions of the emitters |
omni:sensor:Core:rangesMinM |
float[] |
[] |
Minimum ranges of the emitters in meters; Has rangeCount elements; Changing the number of elements at runtime is not supported. |
omni:sensor:Core:rangesMaxM |
float[] |
[] |
Maximum ranges of the emitters in meters; Has rangeCount elements; Changing the number of elements at runtime is not supported. |
omni:sensor:Core:stateResolutionStep |
uint |
1 |
State resolution step of the sensor – Handles switching between states |
omni:sensor:Core:emitterStatesFile |
string |
“” |
File containing the emitter states of the sensor; Not supported, yet. |
omni:sensor:Core:tiledSubSampling |
uint |
0 |
Sensor workload should be sub sampled by this factor (e.g. a value of 2 could equal half the rays traced). |
OmniSensorGenericRadarWpmDmatScanCfgAPI#
API Defines generic radar scan configuration
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:WpmDmat:scan
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
raysPerDeg |
float |
8.0 |
Geometric ray-tracing sample density per degree across the scan field of view. Higher values can improve coverage at increased cost. This is not radar angular resolution. |
timeOffsetUsec |
uint |
0 |
Non-negative offset of this scan from the radar frame time, in microseconds. |
powerFactor |
float |
1.0 |
Unitless transmit-power scaling factor for this scan. It scales contribution strength before detection and is not a value in watts. |
binsFromSpec |
bool |
true |
In FAST mode, derive range, velocity, azimuth, and elevation bin counts from the configured limits and resolution attributes when true; use the explicit bin-count attributes when false. |
enAngAliasing |
bool |
false |
When false, discard contributions outside the configured azimuth/elevation limits. When true, allow angular aliasing by wrapping angular contributions into the configured angular interval in FAST datacube mode. |
enableRangeAliasing |
bool |
false |
When false, discard contributions beyond maxRangeM. When true, allow range aliasing by wrapping over-range contributions into the configured unambiguous range in FAST datacube mode. |
detValFromBinIdx |
bool |
false |
In FAST mode, report range and radial velocity from the detection-bin index when true; use contribution-weighted values within the bin when false. |
elevMode |
token |
“FULL_EL” |
Allowed tokens: “NO_EL”, “POS_EL”, “FULL_EL” Elevation coverage mode: NO_EL uses zero elevation, POS_EL uses positive elevation only, and FULL_EL uses positive and negative elevation. |
datacubeMode |
token |
“FAST” |
Allowed tokens: “FAST”, “WAVEFORM” Detection processing mode. FAST uses the detection-matrix approximation; WAVEFORM uses sampled waveform processing. |
waveformMode |
uint |
0 |
Waveform processing mode: 0 is per-contribution, 1 is per-bin, and 2 is sample-based. Active only when datacubeMode is WAVEFORM. |
maxRangeM |
float |
200 |
Maximum unambiguous range of the scan in meters. Contributions beyond this value are discarded or folded according to enableRangeAliasing. |
maxAzAngDeg |
float |
66 |
Positive azimuth half-angle in degrees. The symmetric azimuth field of view extends from -maxAzAngDeg to +maxAzAngDeg. |
maxElAngDeg |
float |
20 |
Positive elevation half-angle in degrees. The symmetric elevation field of view extends from -maxElAngDeg to +maxElAngDeg, subject to elevMode. |
rangeResM |
float |
0.4 |
Range separation and bin resolution in meters. Active in FAST mode when binsFromSpec is true; this does not add range error. |
velResMps |
float |
0.147 |
Radial-velocity separation and bin resolution in meters per second. Active in FAST mode when binsFromSpec is true; this does not add velocity error. |
boreAzResDeg |
float |
1.3 |
Azimuth separation and bin resolution at boresight in degrees. Active in FAST mode when binsFromSpec is true; this does not add angular error. |
boreElResDeg |
float |
5.0 |
Elevation separation and bin resolution at boresight in degrees. Active in FAST mode when binsFromSpec is true; this does not add angular error. |
rBins |
uint |
112 |
Number of range bins. Active in FAST mode when binsFromSpec is false. |
vBins |
uint |
160 |
Number of velocity bins. Active in FAST mode when binsFromSpec is false. |
azBins |
uint |
12 |
Number of azimuth bins. Active in FAST mode when binsFromSpec is false. |
elBins |
uint |
2 |
Number of elevation bins. Active in FAST mode when binsFromSpec is false. |
slowTimeSamples |
uint |
379 |
slow-time number of samples |
fastTimeSamples |
uint |
625 |
fast-time number of samples |
azimuthPaddingSamples |
uint |
128 |
number of zero-padding samples in azimuth |
elevationPaddingSamples |
uint |
32 |
number of zero-padding samples in elevation |
slowTimePaddingSamples |
uint |
512 |
number of zero-padding samples in slow-time |
fastTimePaddingSamples |
uint |
1024 |
number of zero-padding samples in fast-time |
carrierFrequency |
float |
7.7e+10 |
carrier frequency in Hz |
chirpDuration |
float |
2.5e-05 |
chirp duration in seconds |
chirpBandwidth |
float |
3.75e+08 |
chirp bandwidth in Hz |
chirpRepetitionTime |
float |
3.5e-05 |
chirp repetition time (>= chirp duration) in seconds |
frequencyStepBetweenChirps |
float |
0 |
frequency step between chirps in Hz |
supportFactor |
float |
1 |
support factor in units of main lobe width (1 = one main lobe) |
windowSlowTime |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Window kind for slow time (Doppler) |
windowFastTime |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Window kind for fast time (range) |
txAntennaGainMode |
token |
“COSINE_FALLOFF” |
Allowed tokens: “CONSTANT”, “COSINE_FALLOFF”, “CUSTOM”, “PATCH_ARRAY_MODEL” antenna gain profile for Tx element |
txArrayAzimuthElements |
uint |
0 |
Tx: number of azimuth elements |
txArrayElevationElements |
uint |
0 |
Tx: number of elevation elements |
txAzimuthElementSpacing |
float |
0 |
Tx: azimuth element spacing in meters |
txElevationElementSpacing |
float |
0 |
Tx: elevation element spacing in meters |
txWindowAzimuth |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Tx: window kind for azimuth |
txWindowElevation |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Tx: window kind for elevation |
txAzimuthSteeringAngleDeg |
float |
0 |
Tx: azimuth steering angle in degrees |
txElevationSteeringAngleDeg |
float |
0 |
Tx: elevation steering angle in degrees |
rxAntennaGainMode |
token |
“COSINE_FALLOFF” |
Allowed tokens: “CONSTANT”, “COSINE_FALLOFF”, “CUSTOM”, “PATCH_ARRAY_MODEL” antenna gain profile for Rx element |
rxArrayAzimuthElements |
uint |
0 |
Rx: number of azimuth elements |
rxArrayElevationElements |
uint |
0 |
Rx: number of elevation elements |
rxAzimuthElementSpacing |
float |
0 |
Rx: azimuth element spacing in meters |
rxElevationElementSpacing |
float |
0 |
Rx: elevation element spacing in meters |
rxWindowAzimuth |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Rx: window kind for azimuth |
rxWindowElevation |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Rx: window kind for elevation |
rxAzimuthSteeringAngleDeg |
float |
0 |
Rx: azimuth steering angle in degrees |
rxElevationSteeringAngleDeg |
float |
0 |
Rx: elevation steering angle in degrees |
apertureArrayAzimuthElements |
uint |
0 |
Aperture: number of azimuth elements |
apertureArrayElevationElements |
uint |
0 |
Aperture: number of elevation elements |
apertureAzimuthElementSpacing |
float |
0 |
Aperture: azimuth element spacing in meters |
apertureElevationElementSpacing |
float |
0 |
Aperture: elevation element spacing in meters |
apertureWindowAzimuth |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Aperture: window kind for azimuth |
apertureWindowElevation |
token |
“RECT” |
Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Aperture: window kind for elevation |
cfarRnT |
uint |
1 |
Number of range test cells used to estimate the local CFAR background. |
cfarRnG |
uint |
0 |
Number of range guard cells excluded around the CFAR candidate. |
cfarVnT |
uint |
1 |
Number of velocity test cells used to estimate the local CFAR background. |
cfarVnG |
uint |
0 |
Number of velocity guard cells excluded around the CFAR candidate. |
cfarAznT |
uint |
1 |
Number of azimuth test cells used in 4D CFAR mode. |
cfarAznG |
uint |
0 |
Number of azimuth guard cells used in 4D CFAR mode. |
cfarElnT |
uint |
1 |
Number of elevation test cells used in 4D CFAR mode. |
cfarElnG |
uint |
0 |
Number of elevation guard cells used in 4D CFAR mode. |
cfarMinVal |
float |
7e-17 |
Absolute minimum candidate value for CFAR detection. Lower-valued cells are discarded. |
cfarOffset |
float |
1.0 |
Multiplier applied to the estimated local CFAR background when forming the detection threshold. |
cfarNoiseMean |
float |
0.0 |
Mean of configured CFAR-cell noise. |
cfarNoiseSDev |
float |
0.0 |
Standard deviation of configured CFAR-cell noise. |
maxVelMpsSequence |
float[] |
[50.0, 55.0] |
Non-empty sequence of positive maximum unambiguous radial velocities in meters per second. The active value advances across frames and defines the symmetric interval into which Doppler values fold. |
rcsTuningCoefficients |
float[] |
[-12, 150, 0.0] |
Three RCS calibration values: element 0 is the minimum accepted RCS in dBsm; element 1 scales RCS before conversion to dBsm, with 1 meaning no scaling; element 2 is the standard deviation of added RCS noise in dBsm, with 0 meaning no added noise. |
azimuthRadNoiseMean |
float |
0.0 |
mean value of the azimuth noise in radians |
azimuthRadNoiseSDev |
float |
0.0 |
standard deviation of the azimuth noise in radians |
rangeNoiseMean |
float |
0.0 |
mean value of the range noise in meters |
rangeNoiseSDev |
float |
0.0 |
standard deviation of the range noise in meters |
velocityNoiseMean |
float |
0 |
mean value of the velocity noise in meters per second |
velocityNoiseSDev |
float |
0 |
standard deviation of the velocity noise in meters per second |
elevationRadNoiseMean |
float |
0 |
mean value of the elevation noise in radians |
elevationRadNoiseSDev |
float |
0 |
standard deviation of the elevation noise in radians |
exponentialDecayFactor |
float |
1 |
Exponent controlling distance-dependent contribution decay. Higher values attenuate indirect and distant contributions more strongly. |
debugForceDetection |
bool |
false |
force detection mode for debugging |
debugForceRange |
float |
20 |
forced range value for debugging in meters |
debugForceV |
float |
-40 |
forced velocity value for debugging in m/s |
debugForceAz |
float |
0 |
forced azimuth value for debugging in degrees |
debugForceEl |
float |
0 |
forced elevation value for debugging in degrees |
rxAntennaAzDeg |
float[] |
[-66, 66] |
Directivity data for CUSTOM antenna gain mode. Vector of azimuth angles in degrees for the Rx antenna gain pattern grid. Must be ordered lowest to highest. |
rxAntennaElDeg |
float[] |
[-20, 20] |
Directivity data for CUSTOM antenna gain mode. Vector of elevation angles in degrees for the Rx antenna gain pattern grid. Must be ordered lowest to highest. |
rxAntennaCoGain |
float[] |
[0.8, 0.7, 0.6, 0.9] |
Vector of linear co-polarization gain values for Rx antenna. Represents a 2D grid (Az x El) mapped to 1D in row-major order, corresponding to rxAntennaAzDeg and rxAntennaElDeg. |
rxAntennaCrossGain |
float[] |
[0.2, 0.3, 0.4, 0.1] |
Vector of linear cross-polarization gain values for Rx antenna. Represents a 2D grid (Az x El) mapped to 1D in row-major order, corresponding to rxAntennaAzDeg and rxAntennaElDeg. |
txAntennaAzDeg |
float[] |
[-66, 66] |
Directivity data for CUSTOM antenna gain mode. Vector of azimuth angles in degrees for the Tx antenna gain pattern grid. Must be ordered lowest to highest. |
txAntennaElDeg |
float[] |
[-20, 20] |
Directivity data for CUSTOM antenna gain mode. Vector of elevation angles in degrees for the Tx antenna gain pattern grid. Must be ordered lowest to highest. |
txAntennaCoGain |
float[] |
[0.8, 0.7, 0.6, 0.9] |
Vector of linear co-polarization gain values for Tx antenna. Represents a 2D grid (Az x El) mapped to 1D in row-major order, corresponding to txAntennaAzDeg and txAntennaElDeg. |
txAntennaCrossGain |
float[] |
[0.2, 0.3, 0.4, 0.1] |
Vector of linear cross-polarization gain values for Tx antenna. Represents a 2D grid (Az x El) mapped to 1D in row-major order, corresponding to txAntennaAzDeg and txAntennaElDeg. |
OmniSensorGenericRadarWpmDmatAPI#
API Defines generic radar using WpmDMAT model
Inherits from: APISchemaBase
Can only apply to: OmniRadar
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
OmniSensorGenericRadarWpmDmatScanCfgAPI:s001
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:modelName |
string |
“RadarWPMDMAT” |
|
omni:sensor:modelVersion |
string |
“0.0.0” |
|
omni:sensor:modelVendor |
string |
“NVIDIA” |
|
omni:sensor:marketName |
string |
“Generic” |
|
omni:sensor:tickRate |
float |
20 |
Desired radar update rate in Hz. This is a scheduling hint and does not drive sensor ticking by itself. Runtime changes are not supported. |
omni:sensor:WpmDmat:elementsCoordsType |
token |
“SPHERICAL” |
Allowed tokens: “CARTESIAN”, “SPHERICAL” sets the desired coordinate system for the output basic elements (not auxiliary data)); Runtime changes not supported, yet. |
omni:sensor:WpmDmat:outputFrameOfReference |
token |
“SENSOR” |
Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM” sets the desired frame of reference for all outputs (including auxiliary data); Runtime changes not supported, yet. |
omni:sensor:WpmDmat:customFrameOfReferenceTrafo |
float[] |
[0,0,0,0,0,0] |
used only if outputFrameOfReference = CUSTOM. defines the transformation for the custom frame of reference. structured as [x,y,z,roll,pitch,yaw]; Runtime changes not supported, yet. |
omni:sensor:WpmDmat:waveLengthMm |
float |
3.9 |
Operating wavelength in millimeters used for radar propagation, antenna, and material response. |
omni:sensor:WpmDmat:traceTreeDepth |
uint |
3 |
Maximum propagation depth. Higher values allow more indirect paths and possible ghost detections at increased tracing cost. |
omni:sensor:WpmDmat:instanceTimeOffsetUsec |
uint |
5000 |
Offset of this radar instance in microseconds for interleaved operation in a group of radars. |
omni:sensor:WpmDmat:cfarMode |
token |
“2D” |
Allowed tokens: “2D”, “4D” CFAR processing dimensions. 2D uses range and velocity; 4D also uses azimuth and elevation. |
OmniSensorWpmAcousticSensorMountAPI#
API Defines a single acoustic sensor mount (position and orientation)
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:WpmAcoustic:sensorMount
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
position |
float3 |
(0.0, 0.0, 0.0) |
Sensor mount position in meters [x, y, z] relative to the sensor prim origin. Runtime updatable. |
rotation |
float3 |
(0.0, 0.0, 0.0) |
Sensor mount rotation in degrees [roll, pitch, yaw] relative to the sensor prim orientation. Runtime updatable. |
OmniSensorWpmAcousticRxGroupAPI#
API Defines a receiver group (set of sensor mount indices that listen together)
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:WpmAcoustic:rxGroup
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
receiverIndices |
uint[] |
[0] |
Array of sensor mount indices that form this receiver group |
OmniSensorWpmAcousticFiringSeqAPI#
API Defines a firing sequence cycle (one sequence in the repeating firing pattern)
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:WpmAcoustic:firingSeq
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
eventTimeNs |
float[] |
[0.0] |
Time offset in nanoseconds for each firing event in this sequence |
txSensorId |
uint[] |
[0] |
Transmitter sensor mount index for each event |
rxGroupId |
uint[] |
[0] |
Receiver group index for each event |
channel |
uint[] |
[0] |
Channel ID for each event |
OmniSensorGenericAcousticWpmAPI#
API Defines generic acoustic sensor using WPM model
Default configuration: Single sensor at origin with minimal topology. Users can add more sensor mounts, Rx groups, and firing sequences by applying additional schemas:
Add mounts: prepend apiSchemas = [“OmniSensorWpmAcousticSensorMountAPI:m002”, …]
Add Rx groups: prepend apiSchemas = [“OmniSensorWpmAcousticRxGroupAPI:g002”, …]
Add firing sequences: prepend apiSchemas = [“OmniSensorWpmAcousticFiringSeqAPI:seq002”, …]
Inherits from: APISchemaBase
Can only apply to: OmniAcoustic
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
OmniSensorWpmAcousticSensorMountAPI:m001
OmniSensorWpmAcousticRxGroupAPI:g001
OmniSensorWpmAcousticFiringSeqAPI:seq001
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:modelName |
string |
“AcousticWPM” |
Sensor model name |
omni:sensor:modelVersion |
string |
“0.0.0” |
Sensor model version |
omni:sensor:modelVendor |
string |
“NVIDIA” |
Sensor vendor name |
omni:sensor:marketName |
string |
“Generic” |
Sensor market name |
omni:sensor:tickRate |
float |
30.0 |
desired framerate of the sensor |
omni:sensor:WpmAcoustic:azSpanDeg |
float |
90.0 |
azimuth span in degrees |
omni:sensor:WpmAcoustic:elSpanDeg |
float |
90.0 |
elevation span in degrees |
omni:sensor:WpmAcoustic:raysPerDeg |
uint |
3 |
ray density per degree |
omni:sensor:WpmAcoustic:traceTreeDepth |
uint |
2 |
maximum number of ray bounces |
omni:sensor:WpmAcoustic:membraneDiameter |
float |
0.03 |
membrane diameter in meters |
omni:sensor:WpmAcoustic:centerFrequency |
float |
51200.0 |
center frequency in Hz |
omni:sensor:WpmAcoustic:bandwidth |
float |
3000.0 |
bandwidth in Hz |
omni:sensor:WpmAcoustic:pulseDuration |
float |
0.0025 |
pulse duration in seconds |
omni:sensor:WpmAcoustic:pulsePower |
float |
513.57 |
dimensionless pulse power |
omni:sensor:WpmAcoustic:sampleDuration |
float |
0.0001024 |
time sampling of waveform in seconds |
omni:sensor:WpmAcoustic:closeRange |
float |
1.423360522414186091 |
Close range threshold in meters. Runtime updatable. |
omni:sensor:WpmAcoustic:closeRangeDecay |
float |
1.260887305061087815 |
Close range decay factor |
omni:sensor:WpmAcoustic:closeIndirectAmplBase |
float |
1.1213053540018527 |
Base amplitude for indirect close range reflections. Runtime updatable. |
omni:sensor:WpmAcoustic:closeDirectAmplBase |
float |
1.3868006405050346 |
Base amplitude for direct close range reflections. Runtime updatable. |
omni:sensor:WpmAcoustic:closeIndirectAmpl |
float |
17.638103929366554 |
Amplitude multiplier for indirect close range reflections. Runtime updatable. |
omni:sensor:WpmAcoustic:closeDirectAmpl |
float |
12.655099113296389 |
Amplitude multiplier for direct close range reflections. Runtime updatable. |
omni:sensor:WpmAcoustic:noiseMin |
float |
0.3 |
Minimum noise level |
omni:sensor:WpmAcoustic:noiseMax |
float |
1.7 |
Maximum noise level |
omni:sensor:WpmAcoustic:gainCoeffs |
float[] |
[-0.11670945685628556, 1.8119695910020734, -1.3599884867442356, -0.31463480732406685, 2.191620433273106, -0.3323377262296931, 0.0] |
Gain polynomial coefficients for signal processing (7 elements). Runtime updatable. |
omni:sensor:WpmAcoustic:directivityCoeffs |
float[] |
[0.7116160209916845281, 0.2579289366590081789, -2.109056259741303840, 2.312845602436521819, -1.078336205935858771, 0.3883122293801217206, -0.1589486208522731814] |
Directivity polynomial coefficients for beam pattern modeling (7 elements). Runtime updatable. |
omni:sensor:WpmAcoustic:signalMode |
token |
“CHIRP” |
Allowed tokens: “CHIRP”, “AM” signal mode |
omni:sensor:WpmAcoustic:enableInterference |
bool |
false |
enable interference model |
omni:sensor:WpmAcoustic:sensorMount:m001:position |
float3 |
(0, 0, 0) |
|
omni:sensor:WpmAcoustic:sensorMount:m001:rotation |
float3 |
(0, 0, 0) |
|
omni:sensor:WpmAcoustic:rxGroup:g001:receiverIndices |
uint[] |
[0] |
|
omni:sensor:WpmAcoustic:firingSeq:seq001:eventTimeNs |
float[] |
[0] |
|
omni:sensor:WpmAcoustic:firingSeq:seq001:txSensorId |
uint[] |
[0] |
|
omni:sensor:WpmAcoustic:firingSeq:seq001:rxGroupId |
uint[] |
[0] |
|
omni:sensor:WpmAcoustic:firingSeq:seq001:channel |
uint[] |
[0] |
OmniSensorGenericCameraCoreAPI#
API Defines generic camera sensor and ISP using Core model
Inherits from: APISchemaBase
Can only apply to: Camera
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:sensor:modelName |
string |
“CameraCore” |
|
omni:sensor:modelVersion |
string |
“0.0.0” |
|
omni:sensor:modelVendor |
string |
“NVIDIA” |
|
omni:sensor:marketName |
string |
“Generic” |
|
omni:sensor:tickRate |
float |
30.0 |
desired framerate of the camera; Runtime changes not supported, yet. |
omni:sensor:core:colorCorrectionRedBlueSwap |
bool |
false |
Indicates whether the first and the third color component shall be swapped during color correction. |
omni:sensor:core:colorCorrectionFullwellBlack |
float |
1.0 |
Maximal allowed value of the input array until it saturates during color correction processing. |
omni:sensor:core:colorCorrectionOutputFloat16 |
bool |
true |
Indicates whether the color correction output should be in float16 format. |
omni:sensor:core:colorCorrectionOutputFloat32 |
bool |
false |
Indicates whether the color correction output should be in float32 format. |
omni:sensor:core:colorCorrectionApplySaturation |
bool |
false |
Indicates whether black level and fullwell saturation shall be applied during color correction. |
omni:sensor:core:colorCorrectionSensorResponseScale |
float |
1.0 |
Scalar sensor response multiplier applied to input values. |
omni:sensor:core:colorCorrectionBlack |
float |
0.0 |
Black floor level for color correction processing. |
omni:sensor:core:colorCorrectionMatrixRr |
float |
1.0 |
Color correction matrix coefficient: Red channel contribution to output Red (Red from Red). |
omni:sensor:core:colorCorrectionMatrixRg |
float |
0.0 |
Color correction matrix coefficient: Green channel contribution to output Red (Red from Green). |
omni:sensor:core:colorCorrectionMatrixRb |
float |
0.0 |
Color correction matrix coefficient: Blue channel contribution to output Red (Red from Blue). |
omni:sensor:core:colorCorrectionMatrixGr |
float |
0.0 |
Color correction matrix coefficient: Red channel contribution to output Green (Green from Red). |
omni:sensor:core:colorCorrectionMatrixGg |
float |
1.0 |
Color correction matrix coefficient: Green channel contribution to output Green (Green from Green). |
omni:sensor:core:colorCorrectionMatrixGb |
float |
0.0 |
Color correction matrix coefficient: Blue channel contribution to output Green (Green from Blue). |
omni:sensor:core:colorCorrectionMatrixBr |
float |
0.0 |
Color correction matrix coefficient: Red channel contribution to output Blue (Blue from Red). |
omni:sensor:core:colorCorrectionMatrixBg |
float |
0.0 |
Color correction matrix coefficient: Green channel contribution to output Blue (Blue from Green). |
omni:sensor:core:colorCorrectionMatrixBb |
float |
1.0 |
Color correction matrix coefficient: Blue channel contribution to output Blue (Blue from Blue). |
omni:sensor:core:colorCorrectionWhiteBalance |
float[] |
[1.0, 1.0, 1.0] |
White balance correction factors for RGB channels to compensate for light source color temperature. |
omni:sensor:core:colorFilterArrayCfaCf00 |
float[] |
[0, 1, 0] |
Top Left pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
omni:sensor:core:colorFilterArrayCfaCf01 |
float[] |
[1, 0, 0] |
Top Right pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
omni:sensor:core:colorFilterArrayCfaCf10 |
float[] |
[0, 0, 1] |
Bottom Left pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
omni:sensor:core:colorFilterArrayCfaCf11 |
float[] |
[0, 1, 0] |
Bottom Right pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
omni:sensor:core:colorFilterArrayCfaSemantic |
token |
“GRBG” |
Allowed tokens: “RGGB”, “GRBG”, “BGGR”, “RCCB”, “CRBC”, “BCCR”, “RCCC”, “CCCR”, “CRCC” Semantic description of the Color Filter Array pattern. Valid values: RGGB, GRBG, BGGR, RCCB, CRBC, BCCR, RCCC, CCCR, or CRCC. |
omni:sensor:core:colorFilterArrayOutputDataTypeFormat |
token |
“UINT32” |
Allowed tokens: “FLOAT32”, “UINT32” Data type format for the Color Filter Array output. Valid values: FLOAT32 or UINT32. |
omni:sensor:core:colorFilterArrayMaximalValue |
int |
16777215 |
The maximal value of the internal processing. Default for 24 bits: 16777215, for 20 bits: 1048575, for passthrough: 1. |
omni:sensor:core:colorFilterArrayFlipHorizontal |
bool |
false |
Enable horizontal mirroring of the Color Filter Array output. |
omni:sensor:core:colorFilterArrayFlipVertical |
bool |
false |
Enable vertical mirroring of the Color Filter Array output. |
omni:sensor:core:noiseDarkShotNoiseGain |
float |
10.0 |
Gain applied to the dark shot noise component during noise simulation. |
omni:sensor:core:noiseDarkShotNoiseSigma |
float |
0.5 |
Standard deviation (sigma) of the dark shot noise for realistic noise simulation. |
omni:sensor:core:noiseHdrCombinationData |
float2[] |
[[5.8, 4000], [58, 8000], [70, 16000]] |
Array of HDR region parameters as [gain, exposure_time] pairs defining the gains and exposure times for different HDR regions in noise simulation. |
omni:sensor:core:compandingAlignment |
int |
15 |
Alignment of the MSB (Most Significant Bit) of the companding operation, with LSB starting at 0. |
omni:sensor:core:compandingPostPedestal |
int |
0 |
Pedestal value added after applying the companding operation. |
omni:sensor:core:compandingPrePedestal |
int |
0 |
Pedestal value added before applying the companding operation. |
omni:sensor:core:compandingLinearCompandCoeff |
float2[] |
[[0, 0], [512, 512], [1024, 851], [2048, 1415], [4096, 1430], [8192, 1454], [16384, 1494], [32768, 1562], [65536, 1674], [131072, 1860], [262144, 2169], [524288, 2232], [1048576, 2338], [2097152, 2513], [4194304, 2805], [8388608, 3289], [16777215, 4095]] |
Array of companding parameters defining the non-linear compression curve as [input_value, output_value] pairs. |
omni:sensor:core:ispSmodelCameraProgram |
string |
“” |
Base64 encoded ISP (Image Signal Processor) program file for advanced camera image processing. |
omni:sensor:core:ispSmodelRawDataPaddingMode |
string |
“NONE” |
Allowed tokens: “NONE”, “RIGHT”, “LEFT” Raw data padding mode for ISP processing. |
omni:sensor:core:ispSmodelSensorRawFormat |
string |
“RAW8” |
Allowed tokens: “RAW8”, “RAW10”, “RAW12”, “RAW14”, “RAW20”, “RAW24” Sensor raw format for ISP processing. |
omni:sensor:core:introspectionOutputFile |
bool |
false |
Enable file saving. |
omni:sensor:core:introspectionOutputFileEachFrameOneFile |
bool |
false |
Indicates whether all frames shall be concatenated into a single file or stored as separate files. |
omni:sensor:core:introspectionOutputFileOnlyLastFrame |
bool |
false |
Save only the most recent frame. Only works when saving each frame in one file with the ‘EachFrameOneFile’ option. |
omni:sensor:core:introspectionOutputFileDirectory |
string |
“” |
Location where output files will be saved. |
omni:sensor:core:introspectionOutputViz |
bool |
false |
Enable texture viewing in the Sensor Visualizer panel. |
omni:sensor:core:introspectionOutputVizInputChannel |
int |
101 |
Channel for input texture visualization. |
omni:sensor:core:introspectionOutputVizRawChannel |
int |
102 |
Channel for RAW texture visualization. |
omni:sensor:core:introspectionOutputVizOutputChannel |
int |
103 |
Channel for output texture visualization. |
omni:sensor:core:introspectionInputRaw |
bool |
false |
Inject a RAW input file that will be processed by the ISP. |
omni:sensor:core:introspectionInputRawPath |
string |
“” |
Path to the RAW input file. |
omni:sensor:core:introspectionInputRawWidth |
int |
0 |
Image Width. |
omni:sensor:core:introspectionInputRawHeight |
int |
0 |
Image Height. |
omni:sensor:core:introspectionInputRawSkipFront |
int |
0 |
Bytes to skip before each frame. |
omni:sensor:core:introspectionInputRawSkipBack |
int |
0 |
Bytes to skip after each frame. |
omni:sensor:core:introspectionInputRawFileDataType |
string |
“UINT16” |
Allowed tokens: “UINT8”, “UINT16”, “UINT32”, “FLOAT16”, “FLOAT32” Data type of the RGB. |
omni:sensor:core:introspectionInputRawLoop |
bool |
true |
Indicates whether the input file shall be loop infinitely. |
OmniSensorDepthSensorSingleViewAPI#
API Defines generic depth sensor camera using Core model
Inherits from: APISchemaBase
Can only apply to: RenderProduct
Properties#
Name |
Type |
Default |
Description |
|---|---|---|---|
omni:rtx:post:depthSensor:enabled |
bool |
false |
Enable stereo disparity generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/enabled’) |
omni:rtx:post:depthSensor:baselineMM |
float |
55.0 |
Distance between the two cameras in millimeters. (deprecated carb setting path: ‘/rtx/post/depthSensor/baselineMM’) |
omni:rtx:post:depthSensor:focalLengthPixel |
float |
897.0 |
Focal length of the camera in pixels. (deprecated carb setting path: ‘/rtx/post/depthSensor/focalLengthPixel’) |
omni:rtx:post:depthSensor:sensorSizePixel |
float |
1280.0 |
Size of the camera sensor in pixels. (deprecated carb setting path: ‘/rtx/post/depthSensor/sensorSizePixel’) |
omni:rtx:post:depthSensor:maxDisparityPixel |
float |
110.0 |
Maximum disparity value in pixels. (deprecated carb setting path: ‘/rtx/post/depthSensor/maxDisparityPixel’) |
omni:rtx:post:depthSensor:noiseMean |
float |
0.25 |
Mean value for noise generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/noiseMean’) |
omni:rtx:post:depthSensor:noiseSigma |
float |
0.25 |
Standard deviation for noise generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/noiseSigma’) |
omni:rtx:post:depthSensor:noiseDownscaleFactorPixel |
float |
1.0 |
Factor to downscale noise texture in pixels. (deprecated carb setting path: ‘/rtx/post/depthSensor/noiseDownscaleFactorPixel’) |
omni:rtx:post:depthSensor:confidenceThreshold |
float |
0.7 |
Threshold for confidence filtering. (deprecated carb setting path: ‘/rtx/post/depthSensor/confidenceThreshold’) |
omni:rtx:post:depthSensor:outlierRemovalEnabled |
bool |
true |
Remove outliers caused by reconstruction and reprojection. (deprecated carb setting path: ‘/rtx/post/depthSensor/outlierRemovalEnabled’) |
omni:rtx:post:depthSensor:minDistance |
float |
0.5 |
Minimum distance for disparity generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/minDistance’) |
omni:rtx:post:depthSensor:maxDistance |
float |
10000000.0 |
Maximum distance for disparity generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/maxDistance’) |
omni:rtx:post:depthSensor:rgbDepthOutputMode |
int |
0 |
RGB output mode. (deprecated carb setting path: ‘/rtx/post/depthSensor/rgbDepthOutputMode’) |
omni:rtx:post:depthSensor:showDistance |
bool |
false |
Show distance for disparity generation. (deprecated carb setting path: ‘/rtx/post/depthSensor/showDistance’) |
omni:rtx:post:depthSensor:effectiveDistance |
float |
0 |
Emulates an IR-projection with a distance based confidence fall-off metric. When enabled, combines distance confidence with texture-based confidence. Set to 0 to disable IR emulation. (deprecated carb setting path: ‘/rtx/post/depthSensor/effectiveDistance’) |