chrono::sensor::MetalCameraParams Struct Reference
Description
Explicit pinhole camera basis (world space), matching Chrono::Sensor convention.
#include <ChMetalRTRenderer.h>
Public Attributes | |
| float | origin [3] |
| float | forward [3] |
| float | right [3] |
| float | up [3] |
| float | ambient [3] |
| ambient light color | |
| float | tanHalfV |
| tan(vertical_half_fov) | |
| int | aa |
| antialiasing samples per axis | |
| int | mode |
| 0 color, 1 depth, 2 normal, 3 segmentation, 4 lidar | |
| float | lidarHFov |
| lidar horizontal FOV (rad) | |
| float | lidarVMin |
| lidar min elevation (rad) | |
| float | lidarVMax |
| lidar max elevation (rad) | |
| float | maxDist |
| lidar max range (0 = infinite) | |
| int | lidarSampleRadius |
| beam sub-sampling radius (1 = single ray) | |
| float | lidarHDiv |
| horizontal beam divergence (rad) | |
| float | lidarVDiv |
| vertical beam divergence (rad) | |
| int | lidarReturnMode |
| 0 strongest,1 mean,2 first,3 last,4 dual | |
| float | clipNear = 0.f |
| lidar/radar near clip (ChLidarSensor::GetClipNear); returns closer than this are ignored | |
| unsigned int | rngSeedLo = 0 |
| Halves of this render's 64-bit RNG stream seed from ChSensorManager::GetDeterministicSeed. More... | |
| unsigned int | rngSeedHi = 0 |
| int | lensModel |
| 0 pinhole, 1 FOV (fisheye), 2 radial | |
| float | dk1 |
| float | dk2 |
| float | dk3 |
| radial distortion coefficients | |
| int | bgMode = 0 |
| background: 0 procedural/env, 1 gradient, 2 solid | |
| float | bgZenith [3] = {0.26f, 0.48f, 0.82f} |
| gradient zenith / solid color | |
| float | bgHorizon [3] = {0.58f, 0.72f, 0.88f} |
| gradient horizon | |
| float | fogColor [3] = {0.6f, 0.7f, 0.8f} |
| fog color | |
| float | fogScatter = 0.f |
| exponential fog scattering (0 = off) | |
| int | useGi = 0 |
| 1 = global illumination requested | |
| int | integratorPath = 0 |
| 1 = Integrator::PATH (else LEGACY) | |
| int | hitLimit = 1 |
| camera-ray surface-hit budget (OptiX max_depth - 2) | |
| int | lidarBeamShape = 0 |
| LidarBeamShape: 0 RECTANGULAR, 1 ELLIPTICAL. | |
| float | exposure = 1.f |
| linear exposure/gain | |
| float | vignette = 0.f |
| vignette strength (0 = off) | |
| float | apertureR = 0.f |
| lens aperture radius for depth of field (0 = pinhole) | |
| float | focalDist = 10.f |
| depth-of-field focal distance | |
| float | noiseSigma = 0.f |
| gaussian sensor-noise stddev (0 = off) | |
| float | envIntensity = 1.f |
| environment-map radiance scale (OptiX AddEnvironmentLight intensity_scale) | |
| float | gamma = 2.2f |
| output gamma (OptiX camera.gamma; 2.2 = sRGB, 1 = linear) | |
| bool | useDenoiser = false |
| run the spatial despeckle/denoise pass | |
Member Data Documentation
◆ rngSeedLo
| unsigned int chrono::sensor::MetalCameraParams::rngSeedLo = 0 |
Halves of this render's 64-bit RNG stream seed from ChSensorManager::GetDeterministicSeed.
Split because the shader's uniform block is 32-bit typed; the shader folds both halves back together. Zero is a valid value and simply reproduces the pre-seeding sample pattern.
The documentation for this struct was generated from the following file:
- /builds/uwsbel/chrono/src/chrono_sensor/metal/ChMetalRTRenderer.h
