Sensors#

RTX provides sensor models for a variety of sensor modalities in addition to OpenUSD’s basic camera model.

Sensor Extensions#

The sensor models for cameras, lidar, radar and ultrasonic are provided by the following extensions, which must be loaded to use their functionality:

Sensor Schemata#

The non-visual sensor schemata are supplied by the omni.usd.schema.omni_sensors extension, which must be loaded to use the schemata described here.

To create a lidar, or radar, create an OmniLidar or OmniRadar prim, and apply the appropriate schema to it. For OmniLidar sensors, this is OmniSensorGenericLidarCoreAPI, while for OmniRadar sensors, this is OmniSensorGenericRadarWpmDmatAPI.

Each of the applied API schemata has a corresponding multi-apply API for configuring each emitter state (in the case of lidar) or scan (in the case of radar) of the sensor. Each instance of the applied API corresponds to one emitter state, and each emitter state will be ordered lexicographically according to the name of the API instance. For lidar, the multi-apply API is OmniSensorGenericLidarCoreEmitterStateAPI, while for radar, it is OmniSensorGenericRadarWpmDmatScanCfgAPI.

OmniLidar#

OmniLidar Schema Attributes#
Attribute 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().

OmniSensorGenericLidarCoreAPI#

OmniSensorGenericLidarCoreAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:sensor:Core:aspectRatio	float	1.0	Aspect ratio of the detector
omni:sensor:Core:auxOutputType	token	NONE	Allowed tokens: NONE, BASIC, EXTRA, FULL sets the desired level of detail of the output auxiliary data
omni:sensor:Core:avgPowerW	float	0.002	Average power per emitter in watts
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: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:bitDepthResolution	float	6.5536e+04	Bit depth resolution of the sensor
omni:sensor:Core:calibrationGain	float	40.0	Calibration gain of the sensor
omni:sensor:Core:customFrameOfReferenceTrafo	float[]	[0.0, 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]
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:effectiveApertureSizeM	float	0.01	Effective aperture size of the sensor in meters
omni:sensor:Core:elementsCoordsType	token	SPHERICAL	Allowed tokens: CARTESIAN, SPHERICAL sets the desired coordinate system for the output basic elements (not auxiliary data))
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:emitterStatesFile	string		File containing the emitter states of the sensor; Not supported, yet.
omni:sensor:Core:farRangeM	float	200.0	Maximum range of the sensor in meters
omni:sensor:Core:focusDistM	float	0.15	Focus distance of the sensor in meters
omni:sensor:Core:intensityMappingDecoding	float[]	[]	Intensity mapping decoding
omni:sensor:Core:intensityMappingEncoding	float[]	[]	Intensity mapping encoding
omni:sensor:Core:intensityMappingType	token	LINEAR	Allowed tokens: LINEAR, NONLINEAR, NONLINEAR_ENCODING_ONLY, NONLINEAR_DECODING_ONLY Intensity mapping type
omni:sensor:Core:intensityProcessing	token	NORMALIZATION	Allowed tokens: RAW, NORMALIZATION, CORRECTION Intensity processing mode
omni:sensor:Core:intensityScalePercent	float	255.0	Intensity scale percent
omni:sensor:Core:maxAzimuthROI	float	400.0	End azimuth point of the ROI part of the pattern – in sensor market model frame
omni:sensor:Core:maxReturns	uint	2	Maximum number of returns of the sensor;
omni:sensor:Core:minAzimuthROI	float	400.0	Start azimuth point of the ROI part of the pattern – in sensor market model frame
omni:sensor:Core:minDistBetweenEchosM	float	0.4	Minimum distance between two echos in meters
omni:sensor:Core:minReflectance	float	0.1	Minimum reflectance value of an object for a guaranteed Pointcloud at minReflectionRange
omni:sensor:Core:minReflectionRangeM	float	200.0	Minimum range for a guaranteed detection of an object with minReflectance
omni:sensor:Core:Msquared	float	1.4	M squared value of the sensor
omni:sensor:Core:nearRangeM	float	0.3	Minimum range of the sensor in meters
omni:sensor:Core:numberOfChannels	uint	128	Number of channels of the sensor;
omni:sensor:Core:numberOfEmitters	uint	128	Number of emitters of the sensor;
omni:sensor:Core:numLines	uint	0	Number of lines of the sensor
omni:sensor:Core:numRaysPerLine	uint[]	[]	Number of points per line of the sensor; Has numLines elements
omni:sensor:Core:originErrorMean	float[]	[0, 0, 0]	Mean value of the origin error in meters
omni:sensor:Core:originErrorStd	float[]	[0, 0, 0]	Standard deviation of the origin error in meters
omni:sensor:Core:outputFrameOfReference	token	SENSOR	Allowed tokens: SENSOR, WORLD, CUSTOM sets the desired frame of reference for all outputs (including auxiliary data)
omni:sensor:Core:outputMotionCompensationState	token	NONCOMPENSATED	Allowed tokens: NONCOMPENSATED, COMPENSATED sets the desired motion compensation state for all outputs (including auxiliary data)
omni:sensor:Core:pixelPitch	float	40.0	Pixel pitch of the detector
omni:sensor:Core:pulseTimeNs	uint	6	Pulse time of the sensor in ns
omni:sensor:Core:quantumEfficiency	float	0.9	Quantum efficiency of the detector
omni:sensor:Core:rangeAccuracyM	float	0.02	Range accuracy of the sensor in meters
omni:sensor:Core:rangeCount	uint	0	Number of range regions of the emitters
omni:sensor:Core:rangeOffsetM	float	0.0	Range for which objects are invisible – useful for sensors inside objects
omni:sensor:Core:rangeResolutionM	float	0.004	Range resolution of the sensor in meters
omni:sensor:Core:rangesMaxM	float[]	[]	Maximum ranges of the emitters in meters; Has rangeCount elements
omni:sensor:Core:rangesMinM	float[]	[]	Minimum ranges of the emitters in meters; Has rangeCount elements
omni:sensor:Core:rayType	token	IDEALIZED	Allowed tokens: IDEALIZED, GAUSSIAN_BEAM, UNIFORM_BEAM Ray type of the sensor
omni:sensor:Core:reflectionPowerFraction	float	0.5	Fraction of the reflection power for multiple returns.
omni:sensor:Core:reportRateBaseHz	uint	36000	Report rate base of the sensor in Hz;
omni:sensor:Core:rotationDirection	token	CW	Allowed tokens: CW, CCW Rotation direction of the sensor – only for rotary sensors
omni:sensor:Core:scanRateBaseHz	uint	10	Scan rate base of the sensor in Hz;
omni:sensor:Core:scanType	token	ROTARY	Allowed tokens: ROTARY, SOLID_STATE Scanning principle of the sensor
omni:sensor:Core:skipDroppingInvalidPoints	bool	0	when false the model will drop invalid points
omni:sensor:Core:startAzimuthOffsetDeg	float	0.0	Start azimuth offset angle of the sensor in degrees – in sensor market model frame
omni:sensor:Core:stateResolutionStep	uint	1	State resolution step of the sensor – Handles switching between states
omni:sensor:Core:transmissionPowerFraction	float	1.0	Fraction of the transmission power for multiple returns.
omni:sensor:Core:validEndAzimuthDeg	float	360.0	Valid end azimuth 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:waveLengthNm	float	903.0	Wavelength of the sensor in nm
omni:sensor:marketName	string	Generic
omni:sensor:modelName	string	LidarCore
omni:sensor:modelVendor	string	NVIDIA
omni:sensor:modelVersion	string	0.0.0
omni:sensor:tickRate	float	10.0

OmniSensorGenericLidarCoreEmitterStateAPI#

OmniSensorGenericLidarCoreEmitterStateAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:sensor:Core:emitterState:__INSTANCE_NAME__:azimuthDeg	float[]	[-3.0, -3.0, -3.0, … 3.0]	Azimuth of the emitters in degrees; Has numberOfEmitters elements
omni:sensor:Core:emitterState:__INSTANCE_NAME__:bank	uint[]	[]	Bank/line of the emitters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:channelId	uint[]	[1, 2, 3, … 128]	Corresponding channel id of the emitters; Has numberOfEmitters elements
omni:sensor:Core:emitterState:__INSTANCE_NAME__:distanceCorrectionM	float[]	[]	Distance correction of the emitters in meters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:elevationDeg	float[]	[-15.0, -14.1899995803833, -13.390000343322754, … 10.0]	Elevation of the emitters in degrees; Has numberOfEmitters elements
omni:sensor:Core:emitterState:__INSTANCE_NAME__:fireTimeNs	uint[]	[0, 0, 0, … 24500]	Fire time of the emitters in ns – delta to the azimuth tick start time; Has numberOfEmitters elements
omni:sensor:Core:emitterState:__INSTANCE_NAME__:focalDistM	float[]	[]	Focal distance of the emitters in meters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:focalSlope	float[]	[]	Focal slope of the emitters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:horOffsetM	float[]	[]	Horizontal offset of the emitters in meters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:isROIState	bool	0	Is the emitter state a ROI state
omni:sensor:Core:emitterState:__INSTANCE_NAME__:rangeId	uint[]	[]	Corresponding range id of the emitters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:reportRateDiv	float[]	[]	Report rate divisor of the emitters; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:roi	bool[]	[]	Is the emitter part of the ROI; Has numberOfEmitters elements or empty
omni:sensor:Core:emitterState:__INSTANCE_NAME__:vertOffsetM	float[]	[]	Vertical offset of the emitters in meters; Has numberOfEmitters elements or empty

OmniRadar#

OmniRadar Schema Attributes#
Attribute 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().

OmniSensorGenericRadarWpmDmatAPI#

OmniSensorGenericCameraCoreAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:sensor:core:colorCorrectionApplySaturation	bool	0	Indicates whether black level and fullwell saturation shall be applied during color correction.
omni:sensor:core:colorCorrectionBlack	float	0.0	Black floor level for color correction processing.
omni:sensor:core:colorCorrectionFullwellBlack	float	1.0	Maximal allowed value of the input array until it saturates during color correction processing.
omni:sensor:core:colorCorrectionMatrixBb	float	1.0	Color correction matrix coefficient: Blue channel contribution to output Blue (Blue from Blue).
omni:sensor:core:colorCorrectionMatrixBg	float	0.0	Color correction matrix coefficient: Green channel contribution to output Blue (Blue from Green).
omni:sensor:core:colorCorrectionMatrixBr	float	0.0	Color correction matrix coefficient: Red channel contribution to output Blue (Blue from Red).
omni:sensor:core:colorCorrectionMatrixGb	float	0.0	Color correction matrix coefficient: Blue channel contribution to output Green (Green from Blue).
omni:sensor:core:colorCorrectionMatrixGg	float	1.0	Color correction matrix coefficient: Green channel contribution to output Green (Green from Green).
omni:sensor:core:colorCorrectionMatrixGr	float	0.0	Color correction matrix coefficient: Red channel contribution to output Green (Green from Red).
omni:sensor:core:colorCorrectionMatrixRb	float	0.0	Color correction matrix coefficient: Blue channel contribution to output Red (Red from Blue).
omni:sensor:core:colorCorrectionMatrixRg	float	0.0	Color correction matrix coefficient: Green channel contribution to output Red (Red from Green).
omni:sensor:core:colorCorrectionMatrixRr	float	1.0	Color correction matrix coefficient: Red channel contribution to output Red (Red from Red).
omni:sensor:core:colorCorrectionOutputFloat16	bool	1	Indicates whether the color correction output should be in float16 format.
omni:sensor:core:colorCorrectionOutputFloat32	bool	0	Indicates whether the color correction output should be in float32 format.
omni:sensor:core:colorCorrectionRedBlueSwap	bool	0	Indicates whether the first and the third color component shall be swapped during color correction.
omni:sensor:core:colorCorrectionSensorResponseScale	float	1.0	Scalar sensor response multiplier applied to input values.
omni:sensor:core:colorCorrectionWhiteBalance	float[]	[1, 1, 1]	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:colorFilterArrayFlipHorizontal	bool	0	Enable horizontal mirroring of the Color Filter Array output.
omni:sensor:core:colorFilterArrayFlipVertical	bool	0	Enable vertical mirroring of the Color Filter Array output.
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:colorFilterArrayOutputDataTypeFormat	token	UINT32	Allowed tokens: FLOAT32, UINT32 Data type format for the Color Filter Array output. Valid values: FLOAT32 or UINT32.
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:compandingLinearCompandCoeff	float2[]	[(0, 0), (512, 512), (1024, 851), … (16777215, 4095)]	Array of companding parameters defining the non-linear compression curve as [input_value, output_value] pairs.
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:introspectionInputRaw	bool	0	Inject a RAW input file that will be processed by the ISP.
omni:sensor:core:introspectionInputRawFileDataType	string	UINT16	Data type of the RGB.
omni:sensor:core:introspectionInputRawHeight	int	0	Image Height.
omni:sensor:core:introspectionInputRawLoop	bool	1	Indicates whether the input file shall be loop infinitely.
omni:sensor:core:introspectionInputRawPath	string		Path to the RAW input file.
omni:sensor:core:introspectionInputRawSkipBack	int	0	Bytes to skip after each frame.
omni:sensor:core:introspectionInputRawSkipFront	int	0	Bytes to skip before each frame.
omni:sensor:core:introspectionInputRawWidth	int	0	Image Width.
omni:sensor:core:introspectionOutputFile	bool	0	Enable file saving.
omni:sensor:core:introspectionOutputFileDirectory	string		Location where output files will be saved.
omni:sensor:core:introspectionOutputFileEachFrameOneFile	bool	0	Indicates whether all frames shall be concatenated into a single file or stored as separate files.
omni:sensor:core:introspectionOutputFileOnlyLastFrame	bool	0	Save only the most recent frame. Only works when saving each frame in one file with the ‘EachFrameOneFile’ option.
omni:sensor:core:introspectionOutputViz	bool	0	Enable texture viewing in the Sensor Visualizer panel.
omni:sensor:core:introspectionOutputVizInputChannel	int	101	Channel for input texture visualization.
omni:sensor:core:introspectionOutputVizOutputChannel	int	103	Channel for output texture visualization.
omni:sensor:core:introspectionOutputVizRawChannel	int	102	Channel for RAW texture visualization.
omni:sensor:core:ispSmodelCameraProgram	string		Base64 encoded ISP (Image Signal Processor) program file for advanced camera image processing.
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:marketName	string	Generic
omni:sensor:modelName	string	CameraCore
omni:sensor:modelVendor	string	NVIDIA
omni:sensor:modelVersion	string	0.0.0
omni:sensor:tickRate	float	30.0	desired framerate of the camera; Runtime changes not supported, yet.

OmniSensorGenericRadarWpmDmatScanCfgAPI#

OmniSensorGenericRadarWpmDmatScanCfgAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:arrayAzimuthElements	uint	85	number of azimuth antenna elements in the array.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:arrayElevationElements	uint	14	number of elevation antenna elements in the array.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:azBins	uint	12	number of azimuth bins of the scan.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:azimuthElementSpacing	float	0.00236	azimuth antenna element spacing in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:azimuthPaddingSamples	uint	128	number of zero-padding samples in azimuth.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:azimuthRadNoiseMean	float	0.0	mean value of the azimuth noise in radians.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:azimuthRadNoiseSDev	float	0.0	standard deviation of the azimuth noise in radians.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:binsFromSpec	bool	1	deduce number of bins from spec parameters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:boreAzResDeg	float	1.3	azimuth resolution of the scan in degrees at bore sight.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:boreElResDeg	float	5.0	elavation resolution of the scan in degrees at bore sight.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:carrierFrequency	float	7.7e+10	carrier frequency in Hz.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarAznG	uint	0	cfar number of guard cells for the scan in azimuth dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarAznT	uint	1	cfar number of test cells for the scan in azimuth dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarElnG	uint	0	cfar number of guard cells for the scan in elevation dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarElnT	uint	1	cfar number of test cells for the scan in elevation dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarMinVal	float	7e-17	minimum energy value in a bin to be used in cfar detection.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarNoiseMean	float	0.0	noise mean value for cfar detection.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarNoiseSDev	float	0.0	noise standard deviation value for cfar detection.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarOffset	float	1.0	cfar threshold offset value (multiplier).
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarRnG	uint	0	cfar number of guard cells for the scan in range dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarRnT	uint	1	cfar number of test cells for the scan in range dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarVnG	uint	0	cfar number of guard cells for the scan in velocity dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:cfarVnT	uint	1	cfar number of test cells for the scan in velocity dimension.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:chirpBandwidth	float	3.75e+08	chirp bandwidth in Hz.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:chirpDuration	float	2.5e-05	chirp duration in seconds.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:chirpRepetitionTime	float	3.5e-05	chirp repetition time (>= chirp duration) in seconds.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:datacubeMode	token	FAST	Allowed tokens: FAST, WAVEFORM datacube processing mode.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:debugForceAz	float	0.0	forced azimuth value for debugging in degrees.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:debugForceDetection	bool	0	force detection mode for debugging.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:debugForceEl	float	0.0	forced elevation value for debugging in degrees.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:debugForceRange	float	20.0	forced range value for debugging in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:debugForceV	float	-40.0	forced velocity value for debugging in m/s.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:detValFromBinIdx	bool	0	calculate detection value from bin index of the detection peak.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elBins	uint	2	number of elevation bins of the scan.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elevationElementSpacing	float	0.00332	elevation antenna element spacing in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elevationPaddingSamples	uint	32	number of zero-padding samples in elevation.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elevationRadNoiseMean	float	0.0	mean value of the elevation noise in radians.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elevationRadNoiseSDev	float	0.0	standard deviation of the elevation noise in radians.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:elevMode	token	FULL_EL	Allowed tokens: NO_EL, POS_EL, FULL_EL elevation mode.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:enableRangeAliasing	bool	0	enable range aliasing.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:enAngAliasing	bool	0	enable angular aliasing.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:exponentialDecayFactor	float	1.0	exponential decay factor for the scan.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:fastTimePaddingSamples	uint	1024	number of zero-padding samples in fast-time.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:fastTimeSamples	uint	625	fast-time number of samples.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:frequencyStepBetweenChirps	float	0.0	frequency step between chirps in Hz.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:maxAzAngDeg	float	66.0	max azimuth angle of the scan in degrees.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:maxElAngDeg	float	20.0	max elevation angle of the scan in degrees.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:maxRangeM	float	200.0	max detection range of the scan in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:maxVelMpsSequence	float[]	[50, 55]	max unambiguous velocity sequence of the scan in meters per second.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:powerFactor	float	1.0	power factor for the scan tx power.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:rangeNoiseMean	float	0.0	mean value of the range noise in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:rangeNoiseSDev	float	0.0	standard deviation of the range noise in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:rangeResM	float	0.4	range resolution of the scan in meters.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:raysPerDeg	float	8.0	ray tracing density.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:rBins	uint	112	number of range bins of the scan.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:rcsTuningCoefficients	float[]	[-12, 150, 0]	RCS tuning polynomial coefficients. 0: detections with RCS in dBsm lower than this threshold will be removed; 1: multiplied with RCS before conversion to dBsm. Set to 1 if no change is needed; 2: standard deviation of rcs noise in dBsm. Set to 0 if no noise is needed.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:slowTimePaddingSamples	uint	512	number of zero-padding samples in slow-time.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:slowTimeSamples	uint	379	slow-time number of samples.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:supportFactor	float	1.0	support factor in units of main lobe width (1 = one main lobe).
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:timeOffsetUsec	uint	0	time offset of the scan from the frame time to simulate non-equidistant scans
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__: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.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:vBins	uint	160	number of velocity bins of the scan.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:velocityNoiseMean	float	0.0	mean value of the velocity noise in meters per second.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:velocityNoiseSDev	float	0.0	standard deviation of the velocity noise in meters per second.
omni:sensor:WpmDmat:scan:__INSTANCE_NAME__:velResMps	float	0.147	velocity resolution of the scan in meters per second.

OmniSensorGenericCameraCoreAPI#

OmniSensorGenericCameraCoreAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:sensor:core:colorCorrectionApplySaturation	bool	0	Indicates whether black level and fullwell saturation shall be applied during color correction.
omni:sensor:core:colorCorrectionBlack	float	0.0	Black floor level for color correction processing.
omni:sensor:core:colorCorrectionFullwellBlack	float	1.0	Maximal allowed value of the input array until it saturates during color correction processing.
omni:sensor:core:colorCorrectionMatrixBb	float	1.0	Color correction matrix coefficient: Blue channel contribution to output Blue (Blue from Blue).
omni:sensor:core:colorCorrectionMatrixBg	float	0.0	Color correction matrix coefficient: Green channel contribution to output Blue (Blue from Green).
omni:sensor:core:colorCorrectionMatrixBr	float	0.0	Color correction matrix coefficient: Red channel contribution to output Blue (Blue from Red).
omni:sensor:core:colorCorrectionMatrixGb	float	0.0	Color correction matrix coefficient: Blue channel contribution to output Green (Green from Blue).
omni:sensor:core:colorCorrectionMatrixGg	float	1.0	Color correction matrix coefficient: Green channel contribution to output Green (Green from Green).
omni:sensor:core:colorCorrectionMatrixGr	float	0.0	Color correction matrix coefficient: Red channel contribution to output Green (Green from Red).
omni:sensor:core:colorCorrectionMatrixRb	float	0.0	Color correction matrix coefficient: Blue channel contribution to output Red (Red from Blue).
omni:sensor:core:colorCorrectionMatrixRg	float	0.0	Color correction matrix coefficient: Green channel contribution to output Red (Red from Green).
omni:sensor:core:colorCorrectionMatrixRr	float	1.0	Color correction matrix coefficient: Red channel contribution to output Red (Red from Red).
omni:sensor:core:colorCorrectionOutputFloat16	bool	1	Indicates whether the color correction output should be in float16 format.
omni:sensor:core:colorCorrectionOutputFloat32	bool	0	Indicates whether the color correction output should be in float32 format.
omni:sensor:core:colorCorrectionRedBlueSwap	bool	0	Indicates whether the first and the third color component shall be swapped during color correction.
omni:sensor:core:colorCorrectionSensorResponseScale	float	1.0	Scalar sensor response multiplier applied to input values.
omni:sensor:core:colorCorrectionWhiteBalance	float[]	[1, 1, 1]	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:colorFilterArrayFlipHorizontal	bool	0	Enable horizontal mirroring of the Color Filter Array output.
omni:sensor:core:colorFilterArrayFlipVertical	bool	0	Enable vertical mirroring of the Color Filter Array output.
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:colorFilterArrayOutputDataTypeFormat	token	UINT32	Allowed tokens: FLOAT32, UINT32 Data type format for the Color Filter Array output. Valid values: FLOAT32 or UINT32.
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:compandingLinearCompandCoeff	float2[]	[(0, 0), (512, 512), (1024, 851), … (16777215, 4095)]	Array of companding parameters defining the non-linear compression curve as [input_value, output_value] pairs.
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:introspectionInputRaw	bool	0	Inject a RAW input file that will be processed by the ISP.
omni:sensor:core:introspectionInputRawFileDataType	string	UINT16	Data type of the RGB.
omni:sensor:core:introspectionInputRawHeight	int	0	Image Height.
omni:sensor:core:introspectionInputRawLoop	bool	1	Indicates whether the input file shall be loop infinitely.
omni:sensor:core:introspectionInputRawPath	string		Path to the RAW input file.
omni:sensor:core:introspectionInputRawSkipBack	int	0	Bytes to skip after each frame.
omni:sensor:core:introspectionInputRawSkipFront	int	0	Bytes to skip before each frame.
omni:sensor:core:introspectionInputRawWidth	int	0	Image Width.
omni:sensor:core:introspectionOutputFile	bool	0	Enable file saving.
omni:sensor:core:introspectionOutputFileDirectory	string		Location where output files will be saved.
omni:sensor:core:introspectionOutputFileEachFrameOneFile	bool	0	Indicates whether all frames shall be concatenated into a single file or stored as separate files.
omni:sensor:core:introspectionOutputFileOnlyLastFrame	bool	0	Save only the most recent frame. Only works when saving each frame in one file with the ‘EachFrameOneFile’ option.
omni:sensor:core:introspectionOutputViz	bool	0	Enable texture viewing in the Sensor Visualizer panel.
omni:sensor:core:introspectionOutputVizInputChannel	int	101	Channel for input texture visualization.
omni:sensor:core:introspectionOutputVizOutputChannel	int	103	Channel for output texture visualization.
omni:sensor:core:introspectionOutputVizRawChannel	int	102	Channel for RAW texture visualization.
omni:sensor:core:ispSmodelCameraProgram	string		Base64 encoded ISP (Image Signal Processor) program file for advanced camera image processing.
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:marketName	string	Generic
omni:sensor:modelName	string	CameraCore
omni:sensor:modelVendor	string	NVIDIA
omni:sensor:modelVersion	string	0.0.0
omni:sensor:tickRate	float	30.0	desired framerate of the camera; Runtime changes not supported, yet.

OmniSensorsDepthSensorSingleViewAPI#

OmniSensorDepthSensorSingleViewAPI Schema Attributes#
Attribute Name	Type	Default	Description
omni:rtx:post:depthSensor:baselineMM	float	55.0	Distance between the two cameras in millimeters.
omni:rtx:post:depthSensor:confidenceThreshold	float	0.95	Threshold for confidence filtering.
omni:rtx:post:depthSensor:enabled	bool	0	Enable stereo disparity generation.
omni:rtx:post:depthSensor:focalLengthPixel	float	897.0	Focal length of the camera in pixels.
omni:rtx:post:depthSensor:maxDisparityPixel	float	110.0	Maximum disparity value in pixels.
omni:rtx:post:depthSensor:maxDistance	float	1e+07	Maximum distance for disparity generation.
omni:rtx:post:depthSensor:minDistance	float	0.5	Minimum distance for disparity generation.
omni:rtx:post:depthSensor:noiseDownscaleFactorPixel	float	1.0	Factor to downscale noise texture in pixels.
omni:rtx:post:depthSensor:noiseMean	float	0.25	Mean value for noise generation.
omni:rtx:post:depthSensor:noiseSigma	float	0.25	Standard deviation for noise generation.
omni:rtx:post:depthSensor:outlierRemovalEnabled	int	3	Samples separated by this range (in pixels) will be removed.
omni:rtx:post:depthSensor:rgbDepthOutputMode	int	0	RGB output mode.
omni:rtx:post:depthSensor:sensorSizePixel	float	1280.0	Size of the camera sensor in pixels.
omni:rtx:post:depthSensor:showDistance	bool	0	Show distance for disparity generation.