Camera#
Simulated cameras are highly tunable. Many parameters are available through the Web dashboard and sphinx-cli. Given their large quantity, they have been organized in a hierarchical way.
general settings: At the root level of the camera parameters, we can find parameters covering essential characteristics of the camera such as frame rate, field of view, delay, etc.
clip: Modify near and far clips to control field of rendering.
offsets: Add deltas to the original position and orientation of the camera.
post_process/auto-exposure: automatic light adjustment of the current scene viewed by the camera.
post_process/camera: Settings of the camera lens. Can impact the depth of field effect and the exposure if set in ‘manual’ mode.
post_process/bloom effect: blur caused by bright lights
post_process/chromatic aberrations: simulates the color shifts in real-world camera lenses.
post_process/color grading: alter or enhance the overall color of light in the scene.
post_process/motion blur: Generates a Motion Blur effect that blurs objects based on its motion.
post_process/tonemapper: map the wide range of high dynamic range (HDR) colors into low dynamic range (LDR) that a display can output.
post_process/vignette: simulates the darkening of the borders of real-world camera lenses.
noise: Three types of noise can be exclusively applied.
shot_noise
. Realistic camera noise.gaussian
. Spatial gaussian noise.
burnt_sky: simulates photodiode saturation effect of the camera sensor.
distortion: simulates the distortion effect produced by the camera lens.
wide_angle_lens: simulates a wide-angle camera sensor. For moderate view angles, lens distortion can be simulated with distortion parameters. But, if you need a camera with fisheye, or other types of wide-angle lens whose field of view is larger than 120°, then you should use wide_angle_lens parameters. Note that when distortion is enabled, wide_angle_lens parameters are ignored. The parameter
mapping_function
can take the following strings:equidistant
: R = f * DistortedThetastereographic
: R = 2 * f * tan(DistortedTheta / 2)equisolid_angle
: R = 2 * f * sin(DistortedTheta / 2)orthographic
: R = f * sin(DistortedTheta)kumler_bauer
: R = k1 * sin(k2 * DistortedTheta). This function takes two coefficients in parametercoeffs
. The first one is “f / k1”. The second one is “k2”.
..where :
“R” is the radial distance from the sensor center to the image point
“DistortedTheta” is the angle formed by the ray of light and the normal to the sensor plane.
“f” is the focal length of the sensor
gui: Various settings having an effect on the HMI.
depth/disparity: Configuration of special cameras dedicated to compute depths or disparities.
Note
The “post_process” parameters described above come from the “post_process” step natively offered by UE4. They have been categorized the same way as in UE4. More details can be found HERE).
All parameters#
Name |
Description |
Expected type |
---|---|---|
framerate |
Time in seconds between two consecutive captures. If set to zero, the camera captures only upon asynchronous triggers, like instantaneous_start and sync_over modes |
floating-point number |
horizontal_fov |
Horizontal field of view in radians. |
floating-point number |
out_of_order |
If |
boolean |
burnt_sky/#
Name |
Description |
Expected type |
---|---|---|
debug |
Internal use. Renders a gradient red color when pixels are burnt. |
boolean |
enabled |
Flag enabling the burnt sky effect: When sky luminance is high enough, parts of objects in foreground may be masked due to photodiodes saturation. |
boolean |
luminance_thr |
Beyond this luminance value [0. 1.], the burnt sky effect is activated. It is advised to set a value close to 1. |
floating-point number |
saturation_influence |
The lower the coefficient [0. 1.] is, the more saturated the pixel needs to be to get a large saturation area around the pixel. |
floating-point number |
clip/#
Name |
Description |
Expected type |
---|---|---|
far |
Camera’s far clip distance in meters |
floating-point number |
near |
Camera’s near clip distance in meters |
floating-point number |
depth/#
Name |
Description |
Expected type |
---|---|---|
baseline |
Baseline of the stereo camera in meters. Set this value to 0 to disable the quantization effect and render the true depth. |
floating-point number |
drone_mask_color |
Pixel value indicating that the depth is masked by the drone body. |
floating-point number |
drone_mask_enabled |
If |
boolean |
gaussian_noise/mean |
Mean of the gaussian noise distribution. [0. 1.] |
floating-point number |
gaussian_noise/stddev |
Standard deviation of the gaussian noise distribution. Noise is applied on floating number colors belonging to [0. 1.]. |
floating-point number |
inv_px_color/[r g b a] |
Reference color to invalidate pixels. Deactivated if the values provided are negative at least for RGB. |
floating-point number |
inv_px_rate |
Rate of invalid pixels taken randomly in the depth map. 0. means no invalid pixels using this method. |
floating-point number |
max_disparity |
Highest disparity value before saturating. |
floating-point number |
native_cam_width |
Stereo camera width in pixels. |
integer |
use_native_width |
If |
boolean |
disparity/#
Name |
Description |
Expected type |
---|---|---|
baseline |
Baseline of the stereo camera in meters. |
floating-point number |
drone_mask_color |
Pixel value indicating that the depth is masked by the drone body. |
integer |
drone_mask_enabled |
If |
boolean |
gaussian_noise/mean |
Mean of the gaussian noise distribution. [0. 1.] |
floating-point number |
gaussian_noise/stddev |
Standard deviation of the gaussian noise distribution. Noise is applied on floating number colors belonging to [0. 1.]. |
floating-point number |
inv_px_color/[r g b a] |
Reference color to invalidate pixels. Deactivated if the values provided are negative at least for RGB. |
floating-point number |
inv_px_rate |
Rate of invalid pixels taken randomly in the disparity map. 0. means no invalid pixels using this method. |
floating-point number |
max_disparity |
Highest disparity value before saturating. |
floating-point number |
native_cam_width |
Stereo camera width in pixels. |
integer |
distance/#
Name |
Description |
Expected type |
---|---|---|
drone_mask_color |
Pixel value indicating that the distance is masked by the drone body. |
floating-point number |
drone_mask_enabled |
If |
boolean |
distortion/#
Name |
Description |
Expected type |
---|---|---|
center/[x y] |
Distortion center or principal point expressed as ratios in X and Y dimensions [0.0, 1.0]. |
floating-point number |
crop |
If |
boolean |
debug |
Internal use. Renders the test pattern. |
boolean |
enabled |
If |
boolean |
k1 |
Radial distortion coefficient k1 |
floating-point number |
k2 |
Radial distortion coefficient k2 |
floating-point number |
k3 |
Radial distortion coefficient k3 |
floating-point number |
p1 |
Tangential distortion coefficient p1 |
floating-point number |
p2 |
Tangential distortion coefficient p2 |
floating-point number |
gui/#
Name |
Description |
Expected type |
---|---|---|
color/[r g b a] |
Color of the visualization artifacts and of the frame panel associated with the camera. |
floating-point number |
visualize |
If |
boolean |
visualize_hdr |
If |
boolean |
noise/#
Name |
Description |
Expected type |
---|---|---|
debug |
Internal use. Works only when a noise kind is selected. Generate a uniform gray texture. |
boolean |
debug_saturations |
Internal use. Renders black pixels in magenta, and white pixels in green. |
boolean |
gaussian_noise/mean |
Mean of the gaussian noise distribution. [0. 1.] |
floating-point number |
gaussian_noise/stddev |
Standard deviation of the gaussian noise distribution. Noise is applied on floating number colors belonging to [0. 1.]. |
floating-point number |
noise_type |
Name of the noise type to be applied. Possible values are |
string |
shot_noise/debug |
Internal use. Renders original color if noise is almost zero, red otherwise. |
boolean |
shot_noise/illum_converter |
Coefficient used to convert autoexposure scale into scene_illuminance according to the expression: ‘1 / (illum_converter * autoexposure_scale)’. Used only when scene_illuminance is automatically computed. |
floating-point number |
shot_noise/illum_reference |
If the scene illumination gets below the provided value, the noise due to camera’s analog gain starts being produced. |
floating-point number |
shot_noise/lens_shading/lens_radius |
Maximal radius value within a frame. It has no unit, and impacts the |
floating-point number |
shot_noise/lens_shading/shading_expr |
Expression describing how the lens shading effect is distributed in the frame. |
string |
shot_noise/s1_stddev_factor |
Factor influencing the random distribution S1 of shot noise. |
floating-point number |
shot_noise/s2_stddev_factor |
Factor influencing the random distribution S2 of shot noise. |
floating-point number |
shot_noise/scene_illuminance |
If set to a value lower than 1, illuminance is automatically computed. Otherwise, define an arbitrary value. The lower this value, the higher the shot noise. Default value is 500, which corresponds to a sunny day light. |
floating-point number |
offsets/#
Name |
Description |
Expected type |
---|---|---|
position_x_expr |
Expression setting the X offset of the camera expressed in meters in the frame of the camera. |
string |
position_y_expr |
Expression setting the Y offset of the camera expressed in meters in the frame of the camera. |
string |
position_z_expr |
Expression setting the Z offset of the camera expressed in meters in the frame of the camera. |
string |
rotation_pitch_expr |
Expression setting the pitch offset of the camera expressed in radians in the frame of the camera. |
string |
rotation_roll_expr |
Expression setting the roll offset of the camera expressed in radians in the frame of the camera. |
string |
rotation_yaw_expr |
Expression setting the yaw offset of the camera expressed in radians in the frame of the camera. |
string |
optical_flow/#
Name |
Description |
Expected type |
---|---|---|
mask_pixels |
If |
boolean |
post_process/#
Name |
Description |
Expected type |
---|---|---|
auto_exposure/compensation |
Fixed logarithmic adjustment for the exposure. 0: no adjustment, -1: twice darker, -2: four times darker, 1: twice brighter, 2: four times brighter |
floating-point number |
auto_exposure/compensation_curve |
Dynamic logarithmic adjustment for the exposure. The expected string is formatted as follows: X0,Y0;X1,Y1;X2,Y2;… where Xi is an average scene EV100, and Yi is the corresponding bias applied on Xi in addition to the fixed compensation. White spaces are forbidden. Interpolation is linear. If empty string, no compensation curve is applied (default). |
string |
auto_exposure/high_percent |
In auto-exposure mode ‘histogram’, auto-exposure will adapt to a value extracted from the luminance histogram of the scene color. The value defines the upper percentage of the histogram that is used to find the average scene luminance. |
floating-point number |
auto_exposure/hist_log_max |
In auto-exposure mode ‘histogram’, defines the upper bound for the brightness range of the generated histogram. |
floating-point number |
auto_exposure/hist_log_min |
In auto-exposure mode ‘histogram’, defines the lower bound for the brightness range of the generated histogram. |
floating-point number |
auto_exposure/low_percent |
In auto-exposure mode ‘histogram’, auto-exposure will adapt to a value extracted from the luminance histogram of the scene color. The value defines the lower percentage of the histogram that is used to find the average scene luminance. |
floating-point number |
auto_exposure/max_ev100 |
In auto-exposure modes ‘basic’ and ‘histogram’, maximum brightness for auto-exposure. The highest the eye can adapt within. Must be greater than 0 and greater than or equal to min_ev100. |
floating-point number |
auto_exposure/min_ev100 |
In auto-exposure mode ‘histogram’. Minimum brightness for auto exposure. The lowest the eye can adapt within. Must be less than or equal to max_ev100. |
floating-point number |
auto_exposure/mode |
Auto-exposure mode. Three modes are available: |
string |
auto_exposure/physical_exposure |
Enables physical camera exposure using ShutterSpeed/ISO/Aperture. |
boolean |
auto_exposure/speed_down |
In auto-exposure mode ‘histogram’, speed at which the adaptation occurs from bright to dark environment. If ‘speed_up’ or ‘speed_down’ is set to -1.0, auto-exposition gets instantaneous in both up/down directions. |
floating-point number |
auto_exposure/speed_up |
In auto-exposure mode ‘histogram’, speed at which the adaptation occurs from dark to bright environment. If ‘speed_up’ or ‘speed_down’ is set to -1.0, auto-exposition gets instantaneous in both up/down directions. |
floating-point number |
bloom/intensity |
Multiplier for all bloom contributions >=0: off, 0.675 (default), higher than 0.675 means brighter. |
floating-point number |
bloom/method |
Name of the bloom method to be used. Can be |
string |
bloom/threshold |
Minimum brightness the bloom starts having effect. -1: all pixels affect bloom equally (physically correct, faster as a threshold pass is omitted, default), >0: all pixels affect bloom brights more |
floating-point number |
camera/blade_count |
Number of blades that make up the diaphragm mechanism. Used by depth_of_field. |
integer |
camera/fstop |
Opening of the camera lens. Aperture is 1 / fstop with typical lens going down to f / 1.2 (larger opening). Used by depth_of_field and manual exposure mode. |
floating-point number |
camera/iso |
Only for auto_exposure mode ‘manual’. The camera sensor sensitivity. |
floating-point number |
camera/min_fstop |
Maximum aperture. Used by depth_of_field and manual exposure mode. |
floating-point number |
camera/shutter_speed |
Only for auto_exposure mode ‘manual’. The camera shutter speed in 1/N seconds, N being the parameter value. |
floating-point number |
color_grading/color_contrast/[r g b a] |
This will adjust the tonal range of light and dark color values in your scene. Lowering the intensity will remove highlights and lighten the image resulting in a washed-out appearance, whereas a higher intensity will tighten the highlights and darken the overall image. |
floating-point number |
color_grading/color_gain/[r g b a] |
This will adjust the luminance intensity of the image’s whites (highlights) to accurately reproduce colors. Raising or lowering this value will result in the image highlights being washed-out or too dark. |
floating-point number |
color_grading/color_gamma/[r g b a] |
This will adjust the luminance intensity of the image to accurately reproduce colors. Raising or lowering this value will result in the image mid-tones being washed-out or too dark. |
floating-point number |
color_grading/color_offset/[r g b a] |
This will adjust the luminance intensity of the image’s blacks (shadows) to accurately reproduce colors. Raising or lowering this value will result in the image shadows being washed-out or too dark. |
floating-point number |
color_grading/color_saturation/[r g b a] |
This will adjust the intensity (purity) of the colors (hue) that are being represented. A higher saturation intensity will result in colors appearing more like their purest forms (red, green, blue) and when saturation is lowered colors will appear more gray or washed-out. |
floating-point number |
color_grading/white_temp |
White balance in relation to the temperature of the light in the scene. White light: when this matches light temperature. Warm light: When higher than the light in the scene, it is a yellowish color. Cool light: When lower than the light. Blueish color. |
floating-point number |
color_grading/white_tint |
White balance temperature tint. Adjusts cyan and magenta color ranges. This should be used along with the white balance Temp property to get accurate colors. Under some light temperatures, the colors may appear to be more yellow or blue. This can be used to balance the resulting color to look more natural. |
floating-point number |
depth_of_field/blur_distance_km |
Distance at which the pixel is blurred with a radius half of |
floating-point number |
depth_of_field/blur_radius |
Radius in pixels at 1080p resolution to apply according to distance from camera to emulate atmospheric scattering. |
floating-point number |
depth_of_field/focal_distance |
Distance at which the depth of field effect should be sharp. Expressed in centimeters. |
floating-point number |
dirt_mask/dirt_texture |
Name of the texture that defines the dirt on the camera lens where the light of very bright objects is scattered. |
string |
dirt_mask/intensity |
Dirt mask intensity. |
floating-point number |
dirt_mask/tint/[r g b a] |
Dirt mask tint. |
floating-point number |
gamma |
Target gamma value of the camera. |
floating-point number |
image_effects/grain_intensity |
Intensity of the grain effect. |
floating-point number |
image_effects/grain_jitter |
Jitter level on the grain effect. |
floating-point number |
image_effects/vignette_intensity |
Vignetting effect intensity. |
floating-point number |
motion_blur/intensity |
Strength of motion blur [0.0 , 1.0]. |
floating-point number |
motion_blur/max_distortion |
Max distortion caused by motion blur. Percentage of screen width. |
floating-point number |
motion_blur/min_object_screen_size |
Percentage of screen width objects must have for motion blur, lower value means less draw calls. |
floating-point number |
motion_blur/target_fps |
Target frame per second for motion blur. |
integer |
override |
If |
boolean |
tonemapper/black_clip |
Set where the crossover happens and white tones start to cut off their value. Subtle change in most cases [0.0, 1.0]. |
floating-point number |
tonemapper/shoulder |
Adjusts bright color in the tonemapper [0.0, 1.0]. |
floating-point number |
tonemapper/slope |
Steepness of the S-curve for the tonemapper. Larger values make the slope steeper (darker) [0.0, 1.0]. |
floating-point number |
tonemapper/toe |
Adjusts dark color in the tonemapper [0.0, 1.0]. |
floating-point number |
tonemapper/white_clip |
This should NOT be adjusted. Sets where the crossover happens and black tones start to cut off their value [0.0, 1.0]. |
floating-point number |
recording/#
Name |
Description |
Expected type |
---|---|---|
enable |
Start/stop the recording of frames into separate files |
boolean |
format |
Format of the recording frame files. Can be |
string |
path |
Directory path where the frames are saved. Defaults to the current directory. |
string |
wide_angle_lens/#
Name |
Description |
Expected type |
---|---|---|
coeffs |
Comma-separated list of coefficients for the mapping function. Some mapping functions need one or more coefficients to work. Warning: No spaces are allowed in the list. |
string |
cutoff_angle |
Expressed in degrees. Everything outside of the specified angle will be hidden. |
floating-point number |
cx |
X principal point [0..1]. |
floating-point number |
cy |
Y principal point [0..1]. |
floating-point number |
debug |
Internal use. Renders the debug texture. |
boolean |
enabled |
Flag enabling the wide-angle lens effect. |
boolean |
env_texture_size |
Resolution of the environment cube map used to draw the world. |
floating-point number |
mapping_function |
Name of the mapping function. |
string |