Sensor API Schemas#
Array defaults longer than three entries are truncated for display with .... Read the schema files shipped in the ovrtx package for the complete defaults.
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#
USD declaration |
Description |
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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”. |
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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. |
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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. |
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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
OmniIDS#
Inherits from: OmniSensor
OmniSensorSample#
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#
USD declaration |
Description |
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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#
USD declaration |
Description |
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Specifies the sensor market marketName for this sensor. |
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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. |
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Specifies the model behavior version to be used for this sensor. This value must be an unsigned integer string counting from ‘0’, such as ‘0’ or ‘1’, or the special value ‘latest’, that selects the latest supported model behavior version for that schema. The schema/API version is selected by the applied API schema class name: an un-suffixed class selects schema version 1, while a ‘_N’ suffix selects schema version N. Model behavior versions are scoped to their schema version and restart at ‘0’ when the schema version is bumped. |
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Specifies the vendor that authored the given model. |
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Frame rate of the sensor as a rational number (numerator, denominator) in Hz. The rate in Hz = numerator / denominator. A value of (0, 1) means unset: a camera then renders on every step, and any other sensor is captured on the renderer’s default schedule, as Frame rate, step and delivery describes. Note: this is not the tick rate of the sensor, which can be anything. The frameRate is the actual rate at which the sensor completes frames/scans. |
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Start time offset of the sensor as a rational number (numerator, denominator) in seconds. The time offset = numerator / denominator. |
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Frame limit of the sensor. The sensor produces only frames numbered below the limit; -1 means unlimited and 0 pauses the sensor. Frame numbers follow the sensor schedule and keep advancing while frames are not produced, so raising the limit resumes on the current frame number, not where the sensor stopped. A legacy uint value keeps its former meaning, where 0 is unlimited. |
OmniSensorEncryptionAPI#
This schema defines attributes necessary to specify encrypted parameters for a sensor model.
Inherits from: APISchemaBase
Can only apply to: OmniSensor
Properties#
USD declaration |
Description |
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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:
- 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
- Generic WPM Contributions:
an empty list publishes the twelve channels of the record; a non-empty list publishes exactly those plus “Valid”, which indexes the rest. Listing “HitVerticesM” or “GeometryAreaM2” enables the hit-geometry raygen variant and publishes both
The attribute is typed as token[] to match the runtime contract: the Fabric read path resolves channels as a token array only, so a string[] value silently yields no channels. 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#
USD declaration |
Description |
|---|---|
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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#
USD declaration |
Description |
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Azimuth of the emitters in degrees; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
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Elevation of the emitters in degrees; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
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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. |
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Channel id of each emitter as the vendor numbers it; any set of ids is accepted and the ChannelId output reports them unchanged, the count of distinct ids must not exceed numberOfChannels; Has numberOfEmitters elements; Changing the number of elements at runtime is not supported. |
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Corresponding range id of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Vertical offset of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Horizontal offset of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Distance correction of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Focal distance of the emitters in meters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Focal slope of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Peak power of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Bank/line of the emitters; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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Is the emitter part of the ROI; Has numberOfEmitters elements or empty; Changing the number of elements at runtime is not supported. |
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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#
USD declaration |
Description |
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Complete scan/frame rate of the sensor as rational Hz (numerator, denominator). For example, (10, 1) means 10 complete scans per second. |
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Allowed tokens: “CARTESIAN”, “SPHERICAL” sets the desired coordinate system for the output basic elements (not auxiliary data)) |
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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. |
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Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM” sets the desired frame of reference for all outputs (including auxiliary data) |
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used only if outputFrameOfReference = CUSTOM. defines the transformation for the custom frame of reference. structured as [x,y,z,roll,pitch,yaw] |
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when false the model will drop invalid points; Runtime changes not supported, yet. |
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Indicates whether the sensor should produce partial outputs. By default (false), the sensor accumulates points and only outputs when the entire scan is complete. If true, the sensor will output parts of the scan at every call. The amount of the partial output corresponds to the time span of the call and the frame rate of the sensor. Author true explicitly to retain partial-scan output. |
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when true the sensor will output a full scan at every frame |
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Allowed tokens: “ROTARY”, “SOLID_STATE” Scanning principle of the sensor; Runtime changes not supported, yet. |
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Allowed tokens: “RAW”, “NORMALIZATION”, “CORRECTION” Intensity processing mode |
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Allowed tokens: “CW”, “CCW” Rotation direction of the sensor – only for rotary sensors |
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Allowed tokens: “IDEALIZED”, “GAUSSIAN_BEAM”, “UNIFORM_BEAM” Ray type of the sensor; Runtime changes not supported, yet. |
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Minimum range of the sensor in meters |
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Maximum range of the sensor in meters |
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Fraction of the reflection power for multiple returns. |
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Fraction of the transmission power for multiple returns. |
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Start azimuth offset angle of the sensor in degrees – in sensor market model frame |
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Valid start azimuth angle of the sensor in degrees – in sensor market model frame |
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Valid end azimuth angle of the sensor in degrees – in sensor market model frame |
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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. |
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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. |
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Distance quantization step in meters used by vendor packet encoders that consume the profile resolution. This attribute does not add random error to the delivered PointCloud coordinates; use rangeAccuracyM for simulated range uncertainty. |
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Range error scale in meters. The model uses this to add distance-dependent Gaussian range uncertainty; uncertainty grows with distance relative to farRangeM. |
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Minimum distance between two resolvable echos in meters |
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Range for which objects are invisible – useful for sensors inside objects |
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Peak emitted optical power per emitter in watts. It contributes to returned irradiance and intensity processing. |
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Minimum reflectance value of an object for a guarantueed Pointcloud at minReflectionRange |
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Minimum range for a guaranteed detection of an object with minReflectance |
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Emitter wavelength in nanometers. It affects photon/count conversion and material spectral response. |
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Beam pulse duration in nanoseconds. It scales received photon counts and contributes to down-range return separation. |
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Focus distance of the sensor in meters |
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M squared value of the sensor |
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Beam waist horizontal of the sensor in meters |
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Beam waist vertical of the sensor in meters |
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Divergence horizontal of the sensor in degrees |
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Divergence vertical of the sensor in degrees |
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Aspect ratio of the detector |
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Effective aperture size of the sensor in meters |
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Quantum efficiency of the detector |
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Pixel pitch of the detector |
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Calibration gain of the sensor |
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Bit depth resolution of the sensor |
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Resolution at which the firing patterns are applied in degrees. Only applicable for rotary lidar. |
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Number of emitters of the sensor; Runtime changes not supported, yet. |
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Number of channels of the sensor; Runtime changes not supported, yet. |
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Maximum number of returns or detections per channel. |
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Mean value of the azimuth error in degrees |
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Standard deviation of the azimuth error in degrees |
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Mean value of the elevation error in degrees |
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Standard deviation of the elevation error in degrees |
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Mean value of the origin error in meters |
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Standard deviation of the origin error in meters |
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Allowed tokens: “LINEAR”, “NONLINEAR”, “NONLINEAR_ENCODING_ONLY”, “NONLINEAR_DECODING_ONLY” Intensity mapping type |
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Intensity scale percent |
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Intensity mapping encoding; Changing the number of elements at runtime is not supported. |
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Intensity mapping decoding; Changing the number of elements at runtime is not supported. |
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Number of lines of the sensor; Runtime changes not supported, yet. |
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Number of points per line of the sensor; Has numLines elements; Changing the number of elements at runtime is not supported. |
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Number of range regions of the emitters |
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Minimum ranges of the emitters in meters; Has rangeCount elements; Changing the number of elements at runtime is not supported. |
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Maximum ranges of the emitters in meters; Has rangeCount elements; Changing the number of elements at runtime is not supported. |
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State resolution step of the sensor – Handles switching between states |
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File containing the emitter states of the sensor; Not supported, yet. |
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Sensor workload should be sub sampled by this factor (e.g. a value of 2 could equal half the rays traced). |
OmniSensorGenericLidarWpmFiringPatternAPI#
API Defines one generic WPM lidar firing pattern
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:LidarWpm:firingPattern
Properties#
USD declaration |
Description |
|---|---|
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Azimuth of each firing-pattern emitter row in degrees. |
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Elevation of each firing-pattern emitter row in degrees. |
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Fire time of each firing-pattern emitter row in ns relative to the tick start |
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Receiver channel id for each firing-pattern emitter row; any set of ids is accepted and the ChannelId output reports them unchanged |
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Range id for each firing-pattern emitter row; empty means default range |
OmniSensorGenericLidarWpmAPI#
API Defines generic lidar using the WPM model
Inherits from: APISchemaBase
Can only apply to: OmniLidar
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
OmniSensorGenericLidarWpmFiringPatternAPI:p001
Properties#
USD declaration |
Description |
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Allowed tokens: “CARTESIAN”, “SPHERICAL” Sets the desired coordinate system for the output elements. |
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Enables motion compensation output state. |
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Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM” Sets the desired frame of reference for outputs. |
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Used only if outputFrameOfReference = CUSTOM. Structured as [x,y,z,roll,pitch,yaw]. |
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If false, invalid points are dropped and valid points are published in a stable GPU prefix-compacted range. True publishes the capacity-shaped output with validity carried by Flags. |
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If true, partial outputs may be emitted before a full frame is complete. |
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If true, all rays are emitted at the frame timestamp. |
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Allowed tokens: “waveform”, “directDetector”, “directMaterial” Return processing pipeline. Direct modes require idealized rays. |
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Enabling WPM visual-material inputs has a significant performance impact and reads visual-material diffuse reflectance, roughness, and shading normal. If false, WPM uses nonvisual/default material inputs. |
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Positive physical one-way reference distance in meters for direct-material range attenuation. |
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Normalized base-intensity threshold for accepting direct-material returns. |
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Allowed tokens: “rangeNormalized”, “raw” PointCloud intensity processing mode. rangeNormalized reports apparent reflectivity; raw reports the range-dependent normalized detector response. |
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Allowed tokens: “linear”, “nonlinear”, “nonlinearEncodingOnly”, “nonlinearDecodingOnly” Presentation-only PointCloud intensity mapping type. |
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Nonnegative output full-scale for PointCloud intensity after processing and mapping. |
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Optional nonlinear encoding lookup values; tables shorter than intensityScale * 100 provide additive corrections, while larger tables replace the base intensity. |
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Allowed tokens: “rotary”, “solidState” Scan type of the sensor. |
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Allowed tokens: “idealized”, “gaussianBeam” Ray model used by the WPM lidar. |
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Minimum range of the sensor in meters. |
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Maximum range of the sensor in meters. |
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Start azimuth offset angle of the sensor in degrees. |
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Valid start azimuth angle of the sensor in degrees. |
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Valid end azimuth angle of the sensor in degrees. |
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Resolution at which firing patterns are applied in degrees. |
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Number of consecutive logical firing ticks for which each firing pattern remains selected before advancing. A rotary tick is one angular firing step; a solid-state tick is one scan. |
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Maximum number of returns of the sensor. |
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Mean noise added to azimuth radial measurements in degrees. |
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Standard deviation of azimuth radial noise at boresight in degrees. |
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Mean noise added to elevation radial measurements in degrees. |
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Standard deviation of elevation radial noise at boresight in degrees. |
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Mean offset added to azimuth radial measurements in degrees. |
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Standard deviation of azimuth radial noise at boresight in degrees. |
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Mean offset added to elevation radial measurements in degrees. |
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Standard deviation of elevation radial noise at boresight in degrees. |
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Peak power per emitter in watts. |
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Wavelength of the sensor in nm. |
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Pulse time of the sensor in ns. |
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Focus distance of the sensor in meters. |
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M squared value of the sensor. |
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Horizontal divergence of the sensor in degrees. |
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Vertical divergence of the sensor in degrees. |
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Effective aperture size of the sensor in meters. |
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Quantum efficiency of the sensor. |
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Pixel pitch of the sensor in micrometers. |
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Calibration gain of the sensor. |
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Bit depth resolution of the sensor. |
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Detector shot-noise variance coefficient. Set to 0 to disable detector noise. |
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Sparse TOF histogram bin width in nanoseconds. A value of 0 selects a pulse-derived default. |
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Maximum sparse TOF photon histogram bins retained per receiver. |
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Gaussian pulse deposit support radius in standard deviations. |
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Minimum Gaussian pulse deposit weight to materialize a sparse TOF bin. |
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Strict per-bin photon threshold used to form and split contiguous TOF histogram lobes. |
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Positive multiplier applied to the derived minimum accumulated waveform-lobe photon-sum threshold. This does not affect the per-bin peakPhotonThreshold or direct return-processing modes. |
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Full horizontal detector field of view in degrees. Contributions outside half this angle from detector boresight are rejected; accepted contributions receive a smooth angular sensitivity taper. |
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Full vertical detector field of view in degrees. Contributions outside half this angle from detector boresight are rejected; accepted contributions receive a smooth angular sensitivity taper. |
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Nominal minimum Lambertian reflectance at minDetectableReflectanceRangeM. This deterministic normal-incidence reference does not specify a probability of detection. |
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Positive one-way range in meters for the nominal minimum-detectable-reflectance reference. |
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Minimum distance between selected returns in meters. |
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Sensor workload should be subsampled by this factor. |
OmniSensorGenericRadarWpmDmatScanCfgAPI#
API Defines generic radar scan configuration
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:WpmDmat:scan
Properties#
USD declaration |
Description |
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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. |
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Non-negative offset of this scan from the radar frame time, in microseconds. |
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Unitless transmit-power scaling factor for this scan. It scales contribution strength before detection and is not a value in watts. |
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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. |
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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. |
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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. |
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In FAST mode, report range and radial velocity from the detection-bin index when true; use contribution-weighted values within the bin when false. |
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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. |
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Allowed tokens: “FAST”, “WAVEFORM” Detection processing mode. FAST uses the detection-matrix approximation; WAVEFORM uses sampled waveform processing. |
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Waveform processing mode: 0 is per-contribution, 1 is per-bin, and 2 is sample-based. Active only when datacubeMode is WAVEFORM. |
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Maximum unambiguous range of the scan in meters. Contributions beyond this value are discarded or folded according to enableRangeAliasing. |
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Positive azimuth half-angle in degrees. The symmetric azimuth field of view extends from -maxAzAngDeg to +maxAzAngDeg. |
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Positive elevation half-angle in degrees. The symmetric elevation field of view extends from -maxElAngDeg to +maxElAngDeg, subject to elevMode. |
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Range separation and bin resolution in meters. Active in FAST mode when binsFromSpec is true; this does not add random range measurement noise. Binning and estimation can affect measured values. |
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Radial-velocity separation and bin resolution in meters per second. Active in FAST mode when binsFromSpec is true; this does not add random velocity measurement noise. Binning and estimation can affect measured values. |
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Azimuth separation and bin resolution at boresight in degrees. Active in FAST mode when binsFromSpec is true; this does not add random angular measurement noise. Binning and estimation can affect measured values. |
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Elevation separation and bin resolution at boresight in degrees. Active in FAST mode when binsFromSpec is true; this does not add random angular measurement noise. Binning and estimation can affect measured values. |
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Number of range bins. Active in FAST mode when binsFromSpec is false. |
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Number of velocity bins. Active in FAST mode when binsFromSpec is false. |
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Number of azimuth bins. Active in FAST mode when binsFromSpec is false. |
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Number of elevation bins. Active in FAST mode when binsFromSpec is false. |
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slow-time number of samples |
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fast-time number of samples |
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Total azimuth transform length after zero padding in WAVEFORM mode, including the original samples. |
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Total elevation transform length after zero padding in WAVEFORM mode, including the original samples. |
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Total slow-time transform length after zero padding in WAVEFORM mode, including the original samples. |
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Total fast-time transform length after zero padding in WAVEFORM mode, including the original samples. |
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chirp duration in seconds |
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chirp bandwidth in Hz |
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Non-empty sequence of finite positive chirp repetition times in seconds. Active only in WAVEFORM mode, where every entry must be at least chirpDuration and define a nonsingular range/velocity inversion. The sequence advances only when this WAVEFORM scan fires. Firings of other scans and frames that fire no scan leave its entry unchanged. The selected entry holds for every chirp of a firing. The sequence restarts at element zero when the sensor is created, after an accepted attribute update and after a renderer reset. A single entry preserves fixed chirp timing. Velocity ambiguity bounds are derived from the selected timing and the global waveLengthMm. |
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frequency step between chirps in Hz |
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support factor in units of main lobe width (1 = one main lobe) |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Window kind for slow time (Doppler) |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Window kind for fast time (range) |
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Allowed tokens: “CONSTANT”, “COSINE_FALLOFF”, “CUSTOM”, “PATCH_ARRAY_MODEL” antenna gain profile for Tx element |
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Tx: number of azimuth elements |
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Tx: number of elevation elements |
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Tx: azimuth element spacing in meters |
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Tx: elevation element spacing in meters |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Tx: window kind for azimuth |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Tx: window kind for elevation |
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Tx: azimuth steering angle in degrees |
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Tx: elevation steering angle in degrees |
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Allowed tokens: “CONSTANT”, “COSINE_FALLOFF”, “CUSTOM”, “PATCH_ARRAY_MODEL” antenna gain profile for Rx element |
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Rx: number of azimuth elements |
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Rx: number of elevation elements |
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Rx: azimuth element spacing in meters |
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Rx: elevation element spacing in meters |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Rx: window kind for azimuth |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Rx: window kind for elevation |
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Rx: azimuth steering angle in degrees |
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Rx: elevation steering angle in degrees |
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Aperture: number of azimuth elements |
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Aperture: number of elevation elements |
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Aperture: azimuth element spacing in meters |
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Aperture: elevation element spacing in meters |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Aperture: window kind for azimuth |
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Allowed tokens: “RECT”, “HANN”, “HAMMING”, “BLACKMAN” Aperture: window kind for elevation |
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Number of range test cells used to estimate the local CFAR background. |
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Number of range guard cells excluded around the CFAR candidate. |
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Number of velocity test cells used to estimate the local CFAR background. |
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Number of velocity guard cells excluded around the CFAR candidate. |
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Number of azimuth test cells used in 4D CFAR mode. |
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Number of azimuth guard cells used in 4D CFAR mode. |
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Number of elevation test cells used in 4D CFAR mode. |
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Number of elevation guard cells used in 4D CFAR mode. |
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Absolute minimum candidate value for CFAR detection. Lower-valued cells are discarded. |
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Multiplier applied to the estimated local CFAR background when forming the detection threshold. |
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Mean of configured CFAR-cell noise. |
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Standard deviation of configured CFAR-cell noise. |
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Non-empty sequence of finite positive maximum unambiguous radial velocities in meters per second. In FAST mode the active value defines the symmetric interval into which Doppler values fold. WAVEFORM velocity bounds are derived from the global waveLengthMm and chirp timing instead. The sequence starts at element zero when the sensor is created, after an accepted attribute update and after a renderer reset, and advances only when this FAST scan fires. Firings of other scans and frames that fire no scan leave its entry unchanged. |
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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. |
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Mean of Gaussian azimuth angle-noise samples at boresight, in radians. Samples are converted to phase noise before angle reconstruction; off-boresight errors follow the nonlinear direction-of-arrival mapping. |
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Standard deviation of Gaussian azimuth angle-noise samples at boresight, in radians. Samples are converted to phase noise before angle reconstruction; off-boresight errors follow the nonlinear direction-of-arrival mapping. |
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mean value of the range noise in meters |
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standard deviation of the range noise in meters |
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mean value of the velocity noise in meters per second |
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standard deviation of the velocity noise in meters per second |
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Mean of Gaussian elevation angle-noise samples at boresight, in radians. Samples are converted to phase noise before angle reconstruction; off-boresight errors follow the nonlinear direction-of-arrival mapping. |
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Standard deviation of Gaussian elevation angle-noise samples at boresight, in radians. Samples are converted to phase noise before angle reconstruction; off-boresight errors follow the nonlinear direction-of-arrival mapping. |
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Exponent controlling distance-dependent contribution decay. Higher values attenuate indirect and distant contributions more strongly. It has no effect in ovrtx. |
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Generates one valid synthetic contribution for debugging in FAST and WAVEFORM modes using debugForceRange, debugForceV, debugForceAz, debugForceEl, and debugForceDetectionPower. Ignores scene contributions and does not require a scene intersection or traced energy. Downstream CFAR, noise, and RCS processing remain active and can still reject the contribution. |
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Finite nonnegative linear power of the synthetic contribution when debugForceDetection is enabled in FAST or WAVEFORM mode. Uses internal CFAR power units, on the same scale as cfarMinVal, not watts or dBsm. Waveform windows and spectral spreading determine the power in individual bins. Zero supplies no synthetic signal. |
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Forced range in meters when debugForceDetection is enabled in FAST or WAVEFORM mode. |
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Forced radial velocity in meters per second when debugForceDetection is enabled in FAST or WAVEFORM mode. |
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Forced azimuth in radians when debugForceDetection is enabled in FAST or WAVEFORM mode. |
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Forced elevation in radians when debugForceDetection is enabled in FAST or WAVEFORM mode. |
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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. |
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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. |
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Vector of linear co-polarization gain values for Rx antenna. Represents a row-major 2D grid with elevation rows and azimuth columns. The index is elevationIndex * azimuthCount + azimuthIndex, corresponding to rxAntennaAzDeg and rxAntennaElDeg. |
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Vector of linear cross-polarization gain values for Rx antenna. Represents a row-major 2D grid with elevation rows and azimuth columns. The index is elevationIndex * azimuthCount + azimuthIndex, corresponding to rxAntennaAzDeg and rxAntennaElDeg. |
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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. |
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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. |
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Vector of linear co-polarization gain values for Tx antenna. Represents a row-major 2D grid with elevation rows and azimuth columns. The index is elevationIndex * azimuthCount + azimuthIndex, corresponding to txAntennaAzDeg and txAntennaElDeg. |
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Vector of linear cross-polarization gain values for Tx antenna. Represents a row-major 2D grid with elevation rows and azimuth columns. The index is elevationIndex * azimuthCount + azimuthIndex, 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#
USD declaration |
Description |
|---|---|
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Allowed tokens: “CARTESIAN”, “SPHERICAL” Sets the desired coordinate system for the output basic elements (not auxiliary data). |
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Allowed tokens: “SENSOR”, “WORLD”, “CUSTOM” Sets the frame of reference for detection coordinates only. Doppler velocities remain sensor-relative, and scan angular limits remain in the sensor frame, including when coordinates use WORLD or CUSTOM. |
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Defines the transformation for the custom frame of reference as [x,y,z,roll,pitch,yaw], used only when outputFrameOfReference is CUSTOM. |
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Finite positive operating wavelength in millimeters, shared by all scan configurations in FAST and WAVEFORM modes. Selects spectral material data and sets receive aperture, patch-antenna gain and RCS normalization. WAVEFORM derives its carrier frequency from this wavelength for range, velocity, and phase processing. |
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Maximum propagation depth. Higher values allow more indirect paths and possible ghost detections at increased tracing cost. |
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Allowed tokens: “2D”, “4D” CFAR processing dimensions in FAST mode. 2D uses range and velocity; 4D also uses azimuth and elevation. WAVEFORM always uses 4D CFAR. |
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#
USD declaration |
Description |
|---|---|
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Sensor mount position in meters [x, y, z] relative to the sensor prim origin. Runtime updatable. |
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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#
USD declaration |
Description |
|---|---|
|
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#
USD declaration |
Description |
|---|---|
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Time offset in nanoseconds for each firing event in this sequence |
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Transmitter sensor mount index for each event |
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Receiver group index for each event |
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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#
USD declaration |
Description |
|---|---|
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Sensor model name |
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Sensor vendor name |
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Sensor market name |
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azimuth span in degrees |
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elevation span in degrees |
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ray density per degree |
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maximum number of ray bounces |
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membrane diameter in meters |
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center frequency in Hz |
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bandwidth in Hz |
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pulse duration in seconds |
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dimensionless pulse power |
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time sampling of waveform in seconds |
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Close range threshold in meters. Runtime updatable. |
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Close range decay factor |
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Base amplitude for indirect close range reflections. Runtime updatable. |
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Base amplitude for direct close range reflections. Runtime updatable. |
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Amplitude multiplier for indirect close range reflections. Runtime updatable. |
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Amplitude multiplier for direct close range reflections. Runtime updatable. |
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Minimum noise level |
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Maximum noise level |
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Gain polynomial coefficients for signal processing (7 elements). Runtime updatable. |
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Directivity polynomial coefficients for beam pattern modeling (7 elements). Runtime updatable. |
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Allowed tokens: “CHIRP”, “AM” signal mode |
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enable interference model |
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OmniSensorGenericIDSAPI#
API Defines generic Ideal Depth Sensor (IDS) using emitter grid model.
Supports multiple emitter types:
SPHERICAL: Uniform angular grid on a sphere (numRows x numCols, row=elevation, col=azimuth in degrees)
PLANAR: Uniform grid on a plane (numRows x numCols, row/col units in meters)
CYLINDRICAL: Uniform angular grid on a cylinder (numRows x numCols, row=height in meters, col=azimuth in degrees)
GRIDLESS_SPHERICAL: Non-grid spherical sampling (elementSize/radius control density)
BOX: Axis-aligned box volume (bottomLeft/topRight define bounds, elementSize spacing per axis)
Inherits from: APISchemaBase
Can only apply to: OmniIDS
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
Properties#
USD declaration |
Description |
|---|---|
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desired framerate of the sensor |
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Allowed tokens: “SPHERICAL”, “PLANAR”, “CYLINDRICAL”, “GRIDLESS_SPHERICAL”, “BOX” Emitter grid type |
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Number of rows (elevation for SPHERICAL, z for CYLINDRICAL, y for PLANAR) |
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Number of columns (azimuth for SPHERICAL/CYLINDRICAL, x for PLANAR) |
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Minimum column value (azimuth in deg for SPHERICAL, x in m for PLANAR) |
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Maximum column value |
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Minimum row value (elevation in deg for SPHERICAL, not used in CYLINDRICAL, y in m for PLANAR) |
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Maximum row value (elevation in deg for SPHERICAL, z in m for CYLINDRICAL, y in m for PLANAR) |
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Origin of the emitter grid in meters |
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Bottom-left corner of box emitter volume in meters |
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Top-right corner of box emitter volume in meters |
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Element spacing per axis for BOX type, or scalar element size for GRIDLESS_SPHERICAL (uses x component) |
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Radius/distance in m at which elementSize is defined (GRIDLESS_SPHERICAL only) |
OmniSensorGenericWpmAPI#
API Defines a generic Wave Propagation Model (WPM) sensor.
Path-traces a flattened transmitter/receiver/ray pattern and publishes the raw per-contribution path data as one composite RenderOutput, Contributions: one dense slot per (tile, transmitter, ray, bounce, receiver slot). Firing timing is authored on the transmitter and ray patterns; detector models and return processing are left to a consumer built on top. Supports scalar electromagnetic or mechanical propagation using WPM’s acoustic material model, selected by waveType. Scalar transport carries power, not coherent phase or polarization.
Tx, Rx, Ray and TxRxMapping APIs are built in. Each role’s patternTypes array orders its selectable patterns; successive occurrences of a family consume successive rows of that family’s arrays. There is no instance-name ordering. The active Tx and Rx patterns are selected independently. One Tx pattern row selects one ray bundle and one pairing rule shared by all of its elements. Receiver indices are local to the active Rx pattern; explicit target-group indices are local to the selected mapping page.
Pattern geometry, counts, poses and selectors must have their declared cardinalities, including inactive patterns. Only documented optional numeric arrays may be empty, meaning zero values materialized by the consumer. An empty fallback does not imply a usable pattern, identity pose or singleton broadcast. Mapping-page receiver bounds are checked against the active Rx pattern for the entire selected page; other pages may require another Rx.
Pattern orientations are unit quaternions stored as float4 in (x, y, z, w) order; identity is (0, 0, 0, 1). Authored firing offsets are uint nanoseconds in [0, 4294967295] (at most 4.294967295 seconds per offset). Widen Tx and ray offsets to uint64 before adding them to each other or to the frame start time. Internal WPM timing and the Contributions DeltaTimeNs output remain uint64.
The generator’s pattern-input checker validates all stored patterns and the active selection. The sensor checker validates model controls and basic scheduler settings; descriptor validation checks tensor sizes, types, devices and CPU metadata, never GPU buffer contents. The complete configuration is accepted only after capacity and backend checks pass. Contributions is EMPTY until a valid initial configuration exists. A rejected live edit retains the entire last accepted snapshot. Accepted active indices are CPU output parameters, not per-contribution channels.
Inherits from: APISchemaBase
Can only apply to: OmniGeneralSensor
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
OmniSensorGenericWpmTxAPI
OmniSensorGenericWpmRxAPI
OmniSensorGenericWpmRayAPI
OmniSensorGenericWpmTxRxMappingAPI
Properties#
USD declaration |
Description |
|---|---|
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desired frame rate of the sensor |
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Maximum material-hit evaluations per path. Must be within [1, 255]. |
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Maximum material evaluations between a bounce and a receiver. Must be within [0, 255]. |
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Minimum distance in meters at which any ray hit is accepted |
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Minimum distance in meters at which a primary ray hit is accepted |
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Distance in meters after which the ray hit search terminates |
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Source beam divergence angle in radians |
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Receiver-side acceptance distance in meters for contribution rays |
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Positive operating wavelength in nanometers, resolving the shared WPM material table. Author a wavelength appropriate to the selected waveType; changing waveType does not change this value. |
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Unitless spectral bandwidth factor applied to the material table lookup |
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Allowed tokens: “electroMagnetic”, “mechanical” Propagation family: electroMagnetic uses electromagnetic materials; mechanical uses WPM’s acoustic material model. Both use scalar power transport, not coherent signal or detector processing. |
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Index into tx:patternTypes, selecting one Tx pattern; may change per frame |
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Index into rx:patternTypes, independently selecting one Rx pattern; may change per frame |
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Shared mapping-page index into txRxMappings:numRxGroupsPerPages, used only in map mode |
OmniSensorGenericWpmGridPatternsAPI#
Flattened regular-grid patterns, independently instantiated for tx, rx and ray.
Every array has one entry per grid occurrence in that role’s patternTypes. All geometry arrays are required when the family is used; an unused family has empty arrays. Poses are sensor-relative for tx/rx and transmitter-relative for ray. Positions are meters; orientations are finite unit float4 xyzw quaternions, with identity (0, 0, 0, 1), authored explicitly.
SPHERICAL uses elevation rows and azimuth columns in degrees. PLANAR uses Z rows and Y columns in meters, facing +X. CYLINDRICAL uses height rows in meters and azimuth columns in degrees. Nonperiodic axes include both endpoints; singleton axes use start. A full-circle azimuth span excludes the duplicate endpoint. rowMajor uses row * numCols + col; columnMajor uses col * numRows + row.
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:GenericWpm:gridPatterns
Properties#
USD declaration |
Description |
|---|---|
|
Allowed tokens: “SPHERICAL”, “PLANAR”, “CYLINDRICAL” Required grid modes, one per grid pattern. |
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Required positive row counts, one per grid pattern |
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Required positive column counts, one per grid pattern |
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Required first-row coordinates in the grid mode’s units |
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Required last-row coordinates; a singleton row uses start |
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Required first-column coordinates in the grid mode’s units |
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Required last-column coordinates, except the duplicate full-circle azimuth endpoint is excluded |
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Allowed tokens: “rowMajor”, “columnMajor” Required traversal order per grid pattern. |
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Required pattern translations in meters, one per grid pattern |
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Required unit pattern quaternions in xyzw order, one per grid pattern; no empty-pose fallback |
OmniSensorGenericWpmGaussianPatternsAPI#
Flattened Gaussian ray bundles, instantiated for the ray role.
Required counts and poses have one entry per gaussian occurrence in ray:patternTypes. Optional seed and angular-spread arrays are empty or have that same length; empty means zero. Positions are transmitter-relative meters; unit xyzw orientations rotate the local +X bundle axis and its horizontal and vertical sampling axes. Generation is deterministic for a given seed.
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:GenericWpm:gaussianPatterns
Properties#
USD declaration |
Description |
|---|---|
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Required positive authored ray counts, one per Gaussian bundle |
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Sampler seeds, one per bundle or empty for zero |
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Nonnegative horizontal angular standard deviations in degrees, one per bundle or empty for zero |
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Nonnegative vertical angular standard deviations in degrees, one per bundle or empty for zero |
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Required common ray origins in transmitter-relative meters, one per bundle |
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Required unit bundle quaternions in xyzw order, one per bundle; no empty-pose fallback |
OmniSensorGenericWpmFreePatternsAPI#
Flattened explicit element poses, independently instantiated for tx, rx and ray.
numElementsPerPattern has one positive count per free occurrence in that role’s patternTypes. Its sum is the exact length of both packed pose arrays. Prefix sums partition those arrays in family-row order, preserving element order within each pattern. No pose is inferred from an empty array. Tx/Rx poses are sensor-relative; ray poses are transmitter-relative. A ray’s unit xyzw orientation rotates local +X to its direction.
Inherits from: APISchemaBase
Multiple Apply API: Yes
Property Namespace Prefix: omni:sensor:GenericWpm:freePatterns
Properties#
USD declaration |
Description |
|---|---|
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Required packed element positions in meters; length equals the sum of numElementsPerPattern |
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Required packed unit element quaternions in xyzw order; length equals the sum of numElementsPerPattern |
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Required positive counts partitioning the packed poses, one per free pattern |
OmniSensorGenericWpmTxAPI#
Flattened transmitter pattern order, timing and per-pattern pairing controls.
patternTypes, rayPatternIndices and mappingModes are required and have the same nonzero length. Controls are per selectable Tx pattern, not per element. Each family occurrence consumes its next family row. Timing arrays are empty for zero offsets or have their family’s full cardinality. Grid timing has one start/end pair per grid pattern; free timing has one offset per packed element. Grid offsets interpolate in layout order including both endpoints; a singleton uses start. End must not precede start. Offsets are sensor/frame-relative uint nanoseconds; widen before adding transmitter-relative ray offsets.
Inherits from: APISchemaBase
- Prepend API Schemas:
OmniSensorGenericWpmGridPatternsAPI:tx
OmniSensorGenericWpmFreePatternsAPI:tx
Properties#
USD declaration |
Description |
|---|---|
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Allowed tokens: “grid”, “free” Ordered selectable Tx pattern families, consuming successive rows of each family. |
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First-cell firing offsets from sensor/frame start, one per Tx grid or empty for zero |
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Last-cell firing offsets from sensor/frame start, one per Tx grid or empty for zero |
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Firing offsets from sensor/frame start, one per packed free Tx element or empty for zero |
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Required index into ray:patternTypes per Tx pattern; its entire ray bundle is shared by every element |
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Page-local target-group index per Tx pattern. Full length is required if any pattern uses map; otherwise empty or full length. Entries for other modes are unused. |
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Allowed tokens: “nton”, “1to1”, “map” Required pairing mode per Tx pattern: nton targets all active Rx; 1to1 pairs matching local indices with equal active counts; map targets a group in the selected page. |
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Per-Tx-pattern 1to1 grid neighbourhood radius, or empty for zero; ignored for nton/map. Nonzero values require compatible Tx/Rx grids and are capped at 7 by WPM’s 255-receiver group limit. |
OmniSensorGenericWpmRxAPI#
Flattened receiver pattern order with independent grid and free family arrays.
patternTypes is required and nonempty. Each family occurrence consumes its next family row. The active Rx pattern is selected independently of the Tx pattern; mapping receiver indices address its local elements only.
Inherits from: APISchemaBase
- Prepend API Schemas:
OmniSensorGenericWpmGridPatternsAPI:rx
OmniSensorGenericWpmFreePatternsAPI:rx
Properties#
USD declaration |
Description |
|---|---|
|
Allowed tokens: “grid”, “free” Required ordered selectable Rx pattern families, consuming successive rows of each family. |
OmniSensorGenericWpmRayAPI#
Flattened ray-bundle order with independent grid, free and Gaussian families.
patternTypes is required and nonempty. Each family occurrence consumes its next family row. Ray poses and firing offsets are transmitter-relative. Optional timing arrays are empty for zero or have the family’s full length: one start/end pair per grid, one offset per packed free element and one global offset per Gaussian bundle. A Gaussian global offset is applied uniformly to every ray in that bundle, not relative to the sensor. Grid offsets interpolate in layout order including endpoints; singleton uses start; end must not precede start. Widen uint offsets before adding them to Tx offsets or absolute time.
Inherits from: APISchemaBase
- Prepend API Schemas:
OmniSensorGenericWpmGridPatternsAPI:ray
OmniSensorGenericWpmFreePatternsAPI:ray
OmniSensorGenericWpmGaussianPatternsAPI:ray
Properties#
USD declaration |
Description |
|---|---|
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Allowed tokens: “grid”, “free”, “gaussian” Required ordered ray-bundle families, consuming successive rows of each family. |
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First-ray offsets from transmitter firing, one per ray grid or empty for zero |
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Last-ray offsets from transmitter firing, one per ray grid or empty for zero |
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Offsets from transmitter firing, one per packed free ray or empty for zero |
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Uniform offset from transmitter firing applied to every ray in a Gaussian bundle, one per bundle or empty for zero |
OmniSensorGenericWpmTxRxMappingAPI#
Packed receiver groups partitioned into shared mapping pages.
Prefix sums of numRxGroupsPerPages partition numRxPerGroups; prefix sums of numRxPerGroups partition rxIndices. Counts must partition both arrays exactly. These arrays are required when any Tx pattern uses map; nton and 1to1 do not consume pages. Groups contain 1..255 ordered receiver slots; duplicate indices remain distinct slots. Pages contain positive group counts.
activeMappingPageIndex selects one page. The active Tx pattern’s mappingTargetRxGroups entry selects a group local to that page. Every rxIndices entry in the entire selected page must fit the active Rx pattern’s local element count, including groups not targeted by the active Tx. Other pages may require other Rx patterns. Never filter, renumber or deduplicate slots.
Inherits from: APISchemaBase
Properties#
USD declaration |
Description |
|---|---|
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Packed ordered receiver slots, each local to the active Rx pattern when its page is selected |
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Positive receiver-slot counts per group, each at most 255; sum equals rxIndices length |
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Positive group counts per page; sum equals numRxPerGroups length |
OmniSensorSampleWpmAPI#
API Defines sample WPM-based sensor parameters.
Consolidates parameters from sample_config.json (macro-parameters) and wpm_config_manyRays.json (ray tracing / WPM configuration) into a single USD API schema. The former wpm_cfg file path is no longer needed since all parameters are expressed directly as schema attributes.
Inherits from: APISchemaBase
Can only apply to: OmniSensorSample
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
Properties#
USD declaration |
Description |
|---|---|
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Directory path for saving output data |
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Enable saving of output data to disk |
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Stream saving of output data to disk |
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Use plane wave configuration for source divergence |
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Include random states in WPM allocation |
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Plane wave extent parameter |
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Number of signal elements per ray |
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Operational wavelength in nanometers |
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Maximum number of frames to save |
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Number of columns (azimuth samples) |
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Number of rows (elevation samples) |
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Minimum azimuth angle in degrees |
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Maximum azimuth angle in degrees |
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Down-facing elevation angle in degrees |
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Up-facing elevation angle in degrees |
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Maximum ray bounce depth |
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Place transmitter data on host memory |
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Place receiver data on host memory |
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Place detector data on host memory |
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Enable hit geometry in return data |
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Enable transmission computation |
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Enable backscatter from receiver |
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Enable backscatter from transmitter |
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Enable ray-traced velocity in return data |
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Minimum hit distance in meters |
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Minimum primary hit distance in meters |
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Maximum hit distance in meters |
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Average transmit power |
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#
USD declaration |
Description |
|---|---|
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desired frame rate of the camera as rational Hz (numerator/denominator); Runtime changes not supported, yet. |
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Indicates whether the first and the third color component shall be swapped during color correction. |
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Maximal allowed value of the input array until it saturates during color correction processing. |
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Indicates whether the color correction output should be in float16 format. |
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Indicates whether the color correction output should be in float32 format. |
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Indicates whether black level and fullwell saturation shall be applied during color correction. |
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Scalar sensor response multiplier applied to input values. |
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Black floor level for color correction processing. |
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Color correction matrix coefficient: Red channel contribution to output Red (Red from Red). |
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Color correction matrix coefficient: Green channel contribution to output Red (Red from Green). |
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Color correction matrix coefficient: Blue channel contribution to output Red (Red from Blue). |
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Color correction matrix coefficient: Red channel contribution to output Green (Green from Red). |
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Color correction matrix coefficient: Green channel contribution to output Green (Green from Green). |
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Color correction matrix coefficient: Blue channel contribution to output Green (Green from Blue). |
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Color correction matrix coefficient: Red channel contribution to output Blue (Blue from Red). |
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Color correction matrix coefficient: Green channel contribution to output Blue (Blue from Green). |
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Color correction matrix coefficient: Blue channel contribution to output Blue (Blue from Blue). |
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White balance correction factors for RGB channels to compensate for light source color temperature. |
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Top Left pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
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Top Right pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
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Bottom Left pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
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Bottom Right pixel RGB coefficients of the 2x2 Color Filter Array pattern. |
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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. |
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Allowed tokens: “FLOAT32”, “UINT32” Data type format for the Color Filter Array output. Valid values: FLOAT32 or UINT32. |
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The maximal value of the internal processing. Default for 24 bits: 16777215, for 20 bits: 1048575, for passthrough: 1. Authored as float so non-integer radiometric scales can be expressed; note that float32 represents integers exactly only up to 2^24. |
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Enable horizontal mirroring of the Color Filter Array output. |
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Enable vertical mirroring of the Color Filter Array output. |
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Gain applied to the dark shot noise component during noise simulation. |
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Standard deviation (sigma) of the dark shot noise for realistic noise simulation. |
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Array of HDR region parameters as [gain, exposure_time] pairs defining the gains and exposure times for different HDR regions in noise simulation. |
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Alignment of the MSB (Most Significant Bit) of the companding operation, with LSB starting at 0. |
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Pedestal value added after applying the companding operation. |
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Pedestal value added before applying the companding operation. |
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Array of companding parameters defining the non-linear compression curve as [input_value, output_value] pairs. |
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Base64 encoded ISP (Image Signal Processor) program file for advanced camera image processing. |
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Allowed tokens: “NONE”, “RIGHT”, “LEFT” Raw data padding mode for ISP processing. |
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Allowed tokens: “RAW8”, “RAW10”, “RAW12”, “RAW14”, “RAW20”, “RAW24” Sensor raw format for ISP processing. |
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Enable file saving. |
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Indicates whether all frames shall be concatenated into a single file or stored as separate files. |
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Save only the most recent frame. Only works when saving each frame in one file with the ‘EachFrameOneFile’ option. |
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Location where output files will be saved. |
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Enable texture viewing in the Sensor Visualizer panel. |
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Channel for input texture visualization. |
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Channel for RAW texture visualization. |
|
Channel for output texture visualization. |
|
Inject a RAW input file that will be processed by the ISP. |
|
Path to the RAW input file. |
|
Image Width. |
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Image Height. |
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Bytes to skip before each frame. |
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Bytes to skip after each frame. |
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Allowed tokens: “UINT8”, “UINT16”, “UINT32”, “FLOAT16”, “FLOAT32” Data type of the RGB. |
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Indicates whether the input file shall be loop infinitely. |
OmniSensorGenericDepthSensorSingleViewAPI#
API Defines generic depth sensor camera using Core model
Inherits from: APISchemaBase
Can only apply to: Camera
- Prepend API Schemas:
OmniSensorAPI
OmniSensorEncryptionAPI
Properties#
USD declaration |
Description |
|---|---|
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Distance between the two cameras in millimeters. |
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Focal length of the camera in pixels. |
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Size of the camera sensor in pixels. |
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Maximum disparity value in pixels. |
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Mean value for noise generation. |
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Standard deviation for noise generation. |
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Factor to downscale noise texture in pixels. |
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Threshold for confidence filtering. |
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Remove outliers caused by reconstruction and reprojection. |
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Minimum distance for disparity generation. |
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Maximum distance for disparity generation. |
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RGB output mode. |
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Show distance for disparity generation. |
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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. |