Reference documentation

ansys/api/avxcelerate/sensors/v1/colors.proto

This file describes the Color message used in other messages of this API.

Color

Defines a color in RGB format.

Field	Type	Label	Description
red	uint32		The value for the red component. Range: [0, 255]
green	uint32		The value for the green component. Range: [0, 255]
blue	uint32		The value for the blue component. Range: [0, 255]

Spectrum

Defines a spectrum with a percent intensity value per wavelength. For each wavelength, the value corresponds to the part of this wavelength power in the total spectrum power.

Field	Type	Label	Description
data	double	repeated	A list of pairs, each pair associating a wavelength with a value in percent. Units: The wavelength is in nanometer (nm). The intensity for this wavelength is in percent (value between 0 and 100). Note: You must provide an even number of data.

ansys/api/avxcelerate/sensors/v1/data_access/sensor_data_access.proto

This file describes the service used to access the sensor data produced during the AVX simulation.

DataAccess

Data Access Service

This service provides the procedures to request sensor data during the simulation.

Method Name	Request Type	Response Type	Description
RequestData	SensorDataIdentifier	SensorDataBuffer	Requests the produced sensor data using the specified sensor data identifier. Returns the requested data as a serialized sensor data buffer. Note: With this procedure call, the size of the message is limited to 2 gigabytes.
RequestDataStream	SensorDataIdentifier	SensorDataBuffer stream	Requests the produced sensor data using the specified sensor data identifier. Returns the requested data as a stream of sensor data buffer. Note: With this procedure call, the message has no size limitation.

ansys/api/avxcelerate/sensors/v1/data_access/sensor_data_buffer.proto

This file describes the message containing the serialized sensor data produced during simulation.

SensorDataBuffer

Sensor data, serialized as a byte array, returned by the RequestData procedure.

Field	Type	Label	Description
data	bytes		A sensor data buffer serialized using the vss.sensor_data.SensorData message.

ansys/api/avxcelerate/sensors/v1/data_access/sensor_data_description.proto

This file describes the messages used to define the content of user notifications when new sensor data is produced.

CameraFeedback

Camera sensor parameters that were used to produce the data.

Field	Type	Label	Description
exposure_time	google.protobuf.Duration		Value of the exposure time. The value is represented as a count of seconds and fractions of seconds at nanosecond resolution.
gain	double		Value of the gain.
injection_time	google.protobuf.Int32Value		Value of the injection time. Note: This value only makes sense when the injection mode is activated, as it is encoded in the pixel defined in the injection parameters.

CameraMetadata

Metadata associated with a data produced by a camera sensor.

Field	Type	Label	Description
formats	ansys.api.avxcelerate.sensors.v1.CameraDataFormat	repeated	The types of data produced by the camera. Can be the following: RAW, TEMPERATURE_MAP, SPECTRAL_IRRADIANCE_MAP or CUSTOM_DATA.
image_width	int32		The width of the camera output.
image_height	int32		The height of the camera output.
pixel_format	ansys.api.avxcelerate.sensors.v1.PixelFormat		The pixel format of the image.
ground_truth_formats	ansys.api.avxcelerate.sensors.v1.CameraGroundTruthDataFormat	repeated	The list of ground truth data available.
nb_of_2Dbounding_boxes	google.protobuf.Int32Value		The number of 2D bounding boxes that have been produced. Note: The number of 2D and 3D bounding boxes produced is the same, therefore this field also indicates the number of 3D bounding boxes.

LidarMetadata

Metadata associated with a data produced by a lidar sensor.

Field	Type	Label	Description
formats	ansys.api.avxcelerate.sensors.v1.LidarDataFormat	repeated	The format(s) of the data produced by a lidar sensor.
resolution	Resolution		Resolution.

RadarDebugViewMetadata

Data description of the radar's debug view output.

Field	Type	Label	Description
image_width	int32		The width of the debug view's image output.
image_height	int32		The height of the debug view's image output.
pixel_format	ansys.api.avxcelerate.sensors.v1.PixelFormat		The pixel format of the image.
mode_identifier	google.protobuf.Int32Value		The identifier of the corresponding radar mode.

RadarMetadata

Metadata associated with a data produced by a radar sensor.

Field	Type	Label	Description
formats	ansys.api.avxcelerate.sensors.v1.RadarDataFormat	repeated	The format(s) of the data produced by a radar sensor.
mode_identifier	google.protobuf.Int32Value		The identifier of the mode that has produced the data.
tx_identifier	google.protobuf.Int32Value		The identifier of the transmitter antenna that has produced the data.
tx_waveform_reported	bool		Field indicating whether or not TX waveform data are available.

Resolution

Resolution of a lidar output.

Field	Type	Label	Description
horizontal_resolution	int32		Horizontal resolution of lidar.
vertical_resolution	int32		Vertical resolution of lidar.

SensorDataDescription

Content of the notifications sent any time sensor data is produced.

Field	Type	Label	Description
sensor_id	ansys.api.avxcelerate.sensors.v1.ResourceIdentifier		The identifier of the sensor which produced the data. Note: The identifier corresponds to the identifier defined in the sensor configuration.
simulation_time	google.protobuf.Duration		The simulation time of the produced data.
data_by_identifiers	SensorDataInfo	repeated	Metadata description for the data produced by one sensor at a specific simulation time.

SensorDataInfo

Sensor data info that contains sensor metadata for a given data identifier.

Field	Type	Label	Description
data_id	SensorDataIdentifier		The identifier of the produced data. To be used by the subscriber to retrieve the sensor output data.
metadata	SensorMetadata		SensorMetadata.

SensorMetadata

Metadata associated with the produced data.

Field	Type	Label	Description
oneof value camera_metadata	CameraMetadata		Metadata for data produced by a camera sensor.
oneof value lidar_metadata	LidarMetadata		Metadata for data produced by a lidar sensor.
oneof value radar_metadata	RadarMetadata		Metadata for data produced by a radar sensor.
oneof value radar_debug_view_metadata	RadarDebugViewMetadata		Metadata for a debug view image produced by a radar sensor.
oneof feedback camera_feedback	CameraFeedback		Current values of some of the camera sensor's parameters that were used to produce this data.
data_serialized	bool		Field indicating whether or not the sensor's output data is serialized.
deploy_host_address	string		Address of the Deploy host where the sensor data was generated.
data_access_server_port	google.protobuf.Int32Value		TCP port used to communicate with the data access server. If no value provided, data are available only on the shared memory.

ansys/api/avxcelerate/sensors/v1/data_access/sensor_data_identifier.proto

This file describes the message used to request the sensor data produced during the AVX simulation.

SensorDataIdentifier

Key to retrieve a sensor data.

Field	Type	Label	Description
data_id	string		A unique identifier for a produced sensor data.

ansys/api/avxcelerate/sensors/v1/data_access/sensor_data_output_notification.proto

This file describes the service used to get notifications when new sensor data is produced.

SensorDataNotifier

Sensor Data Notifier Service

This service provides the procedures to get notified when new sensor data is available in the data store.

Method Name	Request Type	Response Type	Description
Subscribe	.google.protobuf.Empty	SensorDataDescription stream	Subscribes to the stream publishing notifications about new sensor data in the data store. This stream ends when the simulation is completed. Returns a stream of sensor data descriptions containing all the needed information to identify the type of the newly generated data and to request it from the data store.

ansys/api/avxcelerate/sensors/v1/feedback_control/brown_distortion.proto

This file describes the brown distortion messages that are used in other messages of the API.

BrownDistortion

Definition of the brown distortion.

Field	Type	Label	Description
radial_distortion	BrownRadialDistortion		BrownRadialDistortion.
tangential_distortion	BrownTangentialDistortion		BrownTangentialDistortion.

BrownRadialDistortion

Lens radial distortion coefficients for Brown-Conrady distortion model (k1, k2, k3).

Field	Type	Label	Description
k1	google.protobuf.DoubleValue		K1 coefficient value of radial distortion.
k2	google.protobuf.DoubleValue		K2 coefficient value of radial distortion.
k3	google.protobuf.DoubleValue		K3 coefficient value of radial distortion.

BrownTangentialDistortion

Lens tangential distortion coefficients for Brown-Conrady distortion model (p1, p2).

Field	Type	Label	Description
p1	google.protobuf.DoubleValue		P1 coefficient value of tangential distortion.
p2	google.protobuf.DoubleValue		P2 coefficient value of tangential distortion.

ansys/api/avxcelerate/sensors/v1/feedback_control/feedback_control.proto

This file describes the service used to implement a feedback control for sensors.

FeedbackControl

Feedback Control Service

This service provides the procedures to update specific parameters of sensors during the simulation. It could be used to implement an auto adaptive algorithm.

Note: The changes are not directly applied to the sensor. First, the update will be sent to the sensor at the next world update (requested using the Update method of the Simulation service). Then, the sensor will be reloaded so that the updated parameter(s) are used for the next output calculation. However, a sensor cannot be reloaded during an ongoing output calculation, it can be reloaded only after the computation is completed.

Method Name	Request Type	Response Type	Description
Send	FeedbackControlDescription	.ansys.api.avxcelerate.sensors.v1.Status	Sends a sensor (camera, lidar, radar) feedback control. Returns a processing Status.

ansys/api/avxcelerate/sensors/v1/feedback_control/feedback_control_camera_parameters.proto

This file describes the messages used to alter some camera parameters during the simulation execution.

AdvancedChromaticAberration

Advanced Chromatic Aberration Parameters

Field	Type	Label	Description
focal_lengths	SpectralFocalLengthDistribution		Focal length of the lens system.

CircularAperture

Circular Aperture Shape

Field	Type	Label	Description
aperture_area	google.protobuf.DoubleValue		The aperture area. Unit: square meters (m^2)

CustomChromaticDispersion

Custom Chromatic Dispersion Parameters

Field	Type	Label	Description
focal_shift	double		Focal length difference between the maximum and minimum wavelengths. Unit: meter (m)

Demosaicing

Parameters for the Physics-based Camera Demosaicing Output

Field	Type	Label	Description
bit_depth_reduction	google.protobuf.Int32Value		Number of bits for the data encoding.

Electronics

Camera Electronics Parameters

Note: Changing the result conversion type during the simulation is not allowed.

Field	Type	Label	Description
bits	google.protobuf.Int32Value		The number defining the native bit depth of the camera.
gain	google.protobuf.DoubleValue		The voltage gain of the camera. Unit: dB
oneof results_conversion demosaicing	Demosaicing		Demosaicing output.
oneof results_conversion injection	Injection		Injection output.

FeedbackControlCameraParameters

Update to apply to one or several parameters of a camera sensor during the simulation. This messages contains the camera parameter(s) to be updated.

Note: At least one parameter must be provided at each call.

Note: The changes are not directly applied to the camera. First, the update will be sent to the camera at the next world update (requested using the Update method of the Simulation service). Then, the camera will be reloaded (except for camera gain, exposure and time encoding) so that the updated parameter(s) are used for the next output calculation. However, a camera cannot be reloaded during an ongoing output calculation, it can be reloaded only after the computation is completed.

Field	Type	Label	Description
lens	Lens		Lens parameters.
imager	Imager		Imager parameters.
electronics	Electronics		Electronics (post-processing) parameters.

FisheyePolynomialDistortion

Fisheye Distortion Parameters

Field	Type	Label	Description
a1	google.protobuf.DoubleValue		A1 coefficient value of fisheye parameter.
a2	google.protobuf.DoubleValue		A2 coefficient value of fisheye parameter.
a3	google.protobuf.DoubleValue		A3 coefficient value of fisheye parameter.
a4	google.protobuf.DoubleValue		A4 coefficient value of fisheye parameter.
a5	google.protobuf.DoubleValue		A5 coefficient value of fisheye parameter.

Imager

Camera Imager System Parameters

Parameters of the camera imager: resolution, exposure time, read out noise and thermal noise model.

Note: Changing the thermal noise model during the simulation is not allowed.

Field	Type	Label	Description
resolution	ImagerResolution		ImagerResolution.
exposure_time	google.protobuf.DoubleValue		Exposure time value. Unit: seconds (s)
readout_noise	ReadoutNoise		ReadoutNoise.
oneof thermal_noise thermal_noise_simple	ThermalNoiseSimpleModel		ThermalNoiseSimpleModel.
oneof thermal_noise thermal_noise_advanced	ThermalNoiseAdvancedModel		ThermalNoiseAdvancedModel.

ImagerResolution

Resolution of the Imager

Note: Changing the sensor resolution does not update the resolution of the rendering window.

Field	Type	Label	Description
width	google.protobuf.Int32Value		Width of the sensor in number of pixels.
height	google.protobuf.Int32Value		Height of the sensor in number of pixels.

Injection

Parameters for the Injection Data Output

Field	Type	Label	Description
time_encoding	InjectionTimeEncoding		InjectionTimeEncoding.

InjectionTimeEncoding

The Timestamp Encoding

Field	Type	Label	Description
row	google.protobuf.Int32Value		Row position of the pixel in which the simulation time is encoded.
column	google.protobuf.Int32Value		Column position of the pixel in which the simulation time is encoded.

Lens

Camera Lens System Parameters

Parameters of the camera lens system: focal length, distortion model, shape of the lens' aperture, and type of chromatic aberration.

Note: Changing the lens distortion model or the aperture shape during the simulation is not allowed.

Field	Type	Label	Description
oneof distortion fisheye_polynomial_distortion	FisheyePolynomialDistortion		Polynomial distortion parameters (for fisheye cameras).
oneof distortion brown_distortion	BrownDistortion		Brown distortion parameters (for cameras with standard field of view).
oneof aperture_shape circular	CircularAperture		Circular aperture.
oneof aperture_shape regular_convex	RegularConvexPolygonAperture		Regular convex polygon aperture.
oneof lens_chromatic_aberration simple_chromatic_aberration	SimpleChromaticAberration		Simple chromatic aberration.
oneof lens_chromatic_aberration advanced_chromatic_aberration	AdvancedChromaticAberration		Advanced chromatic aberration.

ReadoutNoise

Readout Noise Parameters

Field	Type	Label	Description
readout_noise_average	google.protobuf.DoubleValue		Average value of the Gaussian distribution. Unit: number of electrons.
readout_noise_standard	google.protobuf.DoubleValue		Standard deviation of the Gaussian distribution. Unit: number of electrons.

RegularConvexPolygonAperture

Polygonal Aperture Shape

Field	Type	Label	Description
aperture_area	google.protobuf.DoubleValue		The aperture area. Unit: square meters (m^2)
offset_angle	google.protobuf.DoubleValue		The offset angle. Unit: radians (rad)
edge_number	google.protobuf.Int32Value		The number of aperture sides/edges.

SimpleChromaticAberration

Simple Chromatic Aberration Parameters

Note: It is not possible to change from a Chromatic Dispersion Preset to a Custom Chromatic Dispersion or vice-versa.

Field	Type	Label	Description
focal_length	google.protobuf.DoubleValue		Focal length of the lens system. Unit: meter (m)
wavelength_of_focal_length	google.protobuf.DoubleValue		Wavelength at which the focal length is not affected by chromatic aberration. Unit: meter (m)
oneof chromatic_dispersion preset_chromatic_dispersion	PresetChromaticDispersion		Preset chromatic dispersion
oneof chromatic_dispersion custom_chromatic_dispersion	CustomChromaticDispersion		Custom chromatic dispersion

SpectralFocalLengthDistribution

Spectral Focal Length Distribution

Field	Type	Label	Description
focal_length_390	double		Distance between the optical center of the lens and the focal point for the 390 wavelength. Unit: meter (m)
focal_length_427	double		Distance between the optical center of the lens and the focal point for the 427 wavelength. Unit: meter (m)
focal_length_464	double		Distance between the optical center of the lens and the focal point for the 464 wavelength. Unit: meter (m)
focal_length_502	double		Distance between the optical center of the lens and the focal point for the 390 wavelength. Unit: meter (m)
focal_length_539	double		Distance between the optical center of the lens and the focal point for the 502 wavelength. Unit: meter (m)
focal_length_577	double		Distance between the optical center of the lens and the focal point for the 539 wavelength. Unit: meter (m)
focal_length_614	double		Distance between the optical center of the lens and the focal point for the 577 wavelength. Unit: meter (m)
focal_length_652	double		652 between the optical center of the lens and the focal point for the 390 wavelength. Unit: meter (m)

ThermalNoiseAdvancedModel

Thermal Noise Parameters for the Advanced Model

Field	Type	Label	Description
dark_current_reference_value	google.protobuf.DoubleValue		Dark current reference value. Unit: number of electrons per second
dark_current_reference_temperature	google.protobuf.DoubleValue		Dark current reference temperature. Unit: Kelvin (K)
imager_temperature	google.protobuf.DoubleValue		Imager temperature. Unit: Kelvin (K)
dark_current_coefficient	google.protobuf.DoubleValue		Dark current temperature coefficient. Unit: Kelvin (K)

ThermalNoiseSimpleModel

Thermal Noise Parameters for the Simple Model

Field	Type	Label	Description
dark_current_average_value	google.protobuf.DoubleValue		Average dark current value. Unit: number of electrons per second

PresetChromaticDispersion

The available chromatic dispersion presets.

Name	Number	Description
NONE	0
LOW	1
MEDIUM	2
HIGH	3

ansys/api/avxcelerate/sensors/v1/feedback_control/feedback_control_description.proto

This file describes the message used to alter sensor parameters during the simulation execution.

FeedbackControlDescription

Update to apply to one or several parameters of a sensor during the simulation.

This messages contains the sensor parameter(s) to be updated.

Note: At least one parameter must be provided at each call.

Note: The changes are not directly applied to the sensor. First, the update will be sent to the sensor at the next world update (requested using the Update method of the Simulation service). Then, the sensor will be reloaded so that the updated parameter(s) are used for the next output calculation. However, a sensor cannot be reloaded during an ongoing output calculation, it can be reloaded only after the computation is completed.

Field	Type	Label	Description
sensor_id	string		The identifier of the sensor as defined in the sensor configuration. Note: This identifier is required for each call and must identify a sensor.
oneof feedback_control_sensor_parameters feedback_control_camera_parameters	FeedbackControlCameraParameters		This message is used to update a camera parameters during the simulation.
oneof feedback_control_sensor_parameters feedback_control_radar_parameters	FeedbackControlRadarParameters		This message is used to update a radar parameters during the simulation.
oneof feedback_control_sensor_parameters feedback_control_lidar_parameters	FeedbackControlLidarParameters		This message is used to update a lidar parameters during the simulation.
enable_sensor_protection	SensorProtectionEnabler		Enables IP protection for the sensor. When IP protection is enabled for a radar, no waveform report is generated for this radar. This has no effect on any other sensor.

SensorProtectionEnabler

This message is used to enable sensor protection.

Note: Once enabled, IP protection cannot be disabled.

ansys/api/avxcelerate/sensors/v1/feedback_control/feedback_control_lidar_parameters.proto

This file describes the messages used to alter lidar parameters during the simulation execution.

AnalogToDigitalConverter

Definition of the analog-to-digital converter.

Field	Type	Label	Description
sampling_frequency	google.protobuf.DoubleValue		Sampling Frequency of the analog-to-digital converter defining the temporal resolution, i.e. the spatial accuracy (a = c / f). Unit: hertz (Hz)
bit_resolution	google.protobuf.Int32Value		Number of bits used for the waveform amplitude in the analog-to-digital converter.

BeamDivergence

Divergence of the gaussian beam.

Field	Type	Label	Description
horizontal	google.protobuf.DoubleValue		Horizontal divergence of the gaussian beam. Unit: radians (rad)
vertical	google.protobuf.DoubleValue		Vertical divergence of the gaussian beam. Unit: radians (rad)

BeamShapeIntensityFile

Intensity of the beam.

Field	Type	Label	Description
intensity_file	bytes		Byte array representing the beam spatial shape's pattern table.
file_type	IntensityFileType		Type of the intensity file. Note: If no file type is provided, the default value will be considered as the type of the intensity file.

FeedbackControlLidarParameters

Update to apply to one or several parameters of a lidar sensor during the simulation.

This messages contains the type of lidar and the parameter(s) to be updated.

Note: At least one parameter must be provided at each call.

Note: The changes are not directly applied to the lidar. First, the update will be sent to the lidar at the next world update (requested using the Update method of the Simulation service). Then, the lidar will be reloaded so that the updated parameter(s) are used for the next output calculation. However, a lidar cannot be reloaded during an ongoing output calculation, it can be reloaded only after the computation is completed.

Field	Type	Label	Description
oneof model rotating_lidar	RotatingLidar		RotatingLidar.
oneof model flash_lidar	FlashLidar		FlashLidar.

FieldOfView

Field of view definition.

Field	Type	Label	Description
horizontal	google.protobuf.DoubleValue		Horizontal field of view of the receiver. Unit: radians (rad)
vertical	google.protobuf.DoubleValue		Vertical field of view of the receiver. Unit: radians (rad)

Firing

Parameters of a lidar firing sequence.

Field	Type	Label	Description
time	google.protobuf.DoubleValue		Time offset of the firing. Unit: seconds (s)
azimuth	google.protobuf.DoubleValue		Rotation offset of the firing. Unit: radians (rad)
elevation	google.protobuf.DoubleValue		Elevation offset of the firing. Unit: radians (rad)
peak_power	google.protobuf.DoubleValue		Peak power of the firing. Note: The peak power (in Watts) is calculated based on the firing energy (in Joules), the pulse shape and the pulse duration (in seconds). This calculation should be considered when applying an update that modifies the firings through the Feedback Control message. For more information about how to calculate the peak power from the pulse energy, refer to AVxcelerate Sensors Simulator User's Guide. Unit: watts (W)

FiringSequence

Description of the firing sequence.

Field	Type	Label	Description
firings	Firing	repeated	Describes the firing sequence. Note: When adjusting the firing sequence via the feedback control, make sure to update every parameter of the sequence to keep it consistent. Sending a partial update (updating only one of the parameters) will cause other parameters to use default values.

FlashLidar

Parameters for a flashing lidar.

Field	Type	Label	Description
emitter	FlashLidarEmitter		FlashLidarEmitter.
receiver	FlashLidarReceiver		FlashLidarReceiver.

FlashLidarEmitter

Emitter parameters of the flashing lidar.

Field	Type	Label	Description
frequency	google.protobuf.DoubleValue		Frequency of the laser fan shots. Unit: hertz (Hz)
laser_pulse	Pulse		Pulse
oneof beam_shape gaussian_beam_shape	GaussianBeamShape		Parametric Gaussian beam shape.
oneof beam_shape beam_shape_intensity_file	BeamShapeIntensityFile		Intensity file describing the beam shape.
peak_power	google.protobuf.DoubleValue		Maximum power emitted by the laser pulse. Unit: watts (W)

FlashLidarReceiver

Receiver parameters of the flashing lidar.

Field	Type	Label	Description
lens_system	LensSystem		LensSystem.
resolution_in_pixels	Resolution		Resolution.
photo_detector	PhotoDetector		PhotoDetector.
processor	LidarProcessor		LidarProcessor.

GaussianBeamShape

Shape of the gaussian beam.

Field	Type	Label	Description
divergence	BeamDivergence		BeamDivergence.

LensDistortion

Lens distortion definition.

Definition of the lens distortion of the flashing Lidar receiver.

Field	Type	Label	Description
oneof distortion brown_distortion	BrownDistortion		Definition of the brown distortion.

LensSystem

Lens system definition.

Field	Type	Label	Description
aperture_area	google.protobuf.DoubleValue		Aperture area of the receiver. Unit: square meters (m^2)
field_of_view	FieldOfView		FieldOfView.
lens_distortion	LensDistortion		LensDistortion.

LidarProcessor

Lidar processor definition.

Field	Type	Label	Description
analog_to_digital_converter	AnalogToDigitalConverter		AnalogToDigitalConverter.
max_returns	google.protobuf.Int32Value		Maximum number of returns in the output.
max_range	google.protobuf.DoubleValue		Maximum range of the lidar. Unit: meters (m)

PhotoDetector

Photo detector definition.

Field	Type	Label	Description
responsivity	google.protobuf.DoubleValue		Number of bits used for the waveform amplitude in the analog-to-digital converter. Unit: A/W Range: [0, 1]
max_current	google.protobuf.DoubleValue		Saturation generated by the photo-detector. Unit: amperes (A)
noise_standard_deviation	google.protobuf.DoubleValue		Current standard deviation of noise. Unit: amperes (A)

Pulse

Pulse of the laser.

Field	Type	Label	Description
wavelength	google.protobuf.DoubleValue		Wavelength of the laser beam. Unit: meters (m)
shape	PulseShape		PulseShape.
duration	google.protobuf.DoubleValue		Duration of the emitted laser pulse. Unit: seconds (s)
extinction_coefficient	google.protobuf.DoubleValue		Atmospheric attenuation coefficient. Unit: m^-1

Resolution

Resolution of the detector, in pixels.

Field	Type	Label	Description
horizontal	google.protobuf.Int32Value		Number of horizontal pixels.
vertical	google.protobuf.Int32Value		Number of vertical pixels.

RotatingLidar

Parameters for a rotating lidar.

Field	Type	Label	Description
rotation_speed	google.protobuf.DoubleValue		Rotation speed of the rotating lidar. Unit: number of rotations per second.
emitter	RotatingLidarEmitter		RotatingLidarEmitter.
receiver	RotatingLidarReceiver		RotatingLidarReceiver.

RotatingLidarEmitter

Emitter parameters of the rotating lidar.

Field	Type	Label	Description
frequency	google.protobuf.DoubleValue		Frequency of the laser fan shots. Unit: hertz (Hz)
laser_pulse	Pulse		Pulse.
beam_shape	GaussianBeamShape		GaussianBeamShape.
firing_sequence	FiringSequence		FiringSequence.

RotatingLidarReceiver

Receiver parameters of the rotating lidar.

Field	Type	Label	Description
aperture_area	google.protobuf.DoubleValue		Aperture area of the receiver. Unit: square meters (m^2)
photo_detector	PhotoDetector		PhotoDetector.
processor	LidarProcessor		LidarProcessor.

IntensityFileType

The available types of intensity file.

Name	Number	Description
IES	0	Ies file (default type).
INTENSITY	1	Intensity file.
XMP	2	XMP file

PulseShape

The possible shapes of the emitted laser pulse.

Name	Number	Description
NONE_PULSE_SHAPE	0
GAUSSIAN	1
RECTANGULAR	2
TRIANGULAR	3

ansys/api/avxcelerate/sensors/v1/feedback_control/feedback_control_radar_parameters.proto

This file describes the messages used to alter some radar parameters during the simulation execution.

ArbitraryChirp

Arbitrary Chirp.

Field	Type	Label	Description
center_frequency	double		Center frequency of the analog-to-digital converter. Unit: hertz (Hz).
sampling_rate	double		Sampling frequency of the analog-to-digital converter. Unit: hertz (Hz).
number_of_samples_per_chirp	int32		Number of samples per chirp.
chirp_interval	double		Time interval between subsequent chirps. Unit: seconds (s). Note: This parameter impacts the frame rate.

ArbitraryPulse

Arbitrary pulse.

Field	Type	Label	Description
center_frequency	double		Center frequency of the analog-to-digital converter. Unit: hertz (Hz)
bandwidth	double		Bandwidth. Unit: hertz (Hz)
number_of_frequency_samples_per_pulse	int32		Number of frequency samples per pulse.
pulse_interval	double		Time interval between two subsequent pulses. Unit: seconds (s) Note: This parameter impacts the frame rate.

ArbitrarySystemFrequencyModulatedContinuousWaveform

Arbitrary system frequency modulated continuous waveform.

Field	Type	Label	Description
chirp_sequence	ArbitraryChirp	repeated	List of chirp definitions.
ramp_rate	google.protobuf.DoubleValue		Ramp rate.
rx_components	RxComponents		RxComponents.

ArbitrarySystemPulseDopplerWaveform

Arbitrary system pulse doppler waveform.

Field	Type	Label	Description
pulse_sequence	ArbitraryPulse	repeated	List of pulse definitions.

DeviceAntenna

Parameters to be updated for a radar antenna.

Field	Type	Label	Description
identifier	google.protobuf.Int32Value		Identifier of the antenna. To be considered as a key to modify an existing antenna. Note: Adding or removing antennas through feedback control is not allowed.
position	ansys.api.avxcelerate.sensors.v1.Vector3D		Position of the antenna relative to the radar device's position. Unit: meters (m)
orientation	ansys.api.avxcelerate.sensors.v1.EulerAngles		Orientation of the antenna relative to the radar device's orientation. Unit: radians (rad)

FeedbackControlRadarParameters

Update to one or several parameters of a radar sensor during the simulation.

This messages contains the parameter(s) to be updated.

Note: At least one parameter must be provided at each call.

Note: The changes are not directly applied to the radar. First, the update will be sent to the radar at the next world update (requested using the Update method of the Simulation service). Then, the radar will be reloaded so that the updated parameter(s) are used for the next output calculation. However, a radar cannot be reloaded during an ongoing output calculation, it can be reloaded only after the computation is completed.

Field	Type	Label	Description
tx_antennas	DeviceAntenna	repeated	List of Tx antennas to be updated.
rx_antennas	DeviceAntenna	repeated	List of Rx antennas to be updated.
modes	Mode	repeated	List of the modes to be updated.

FlatWindow

Flat window model.

FrequencyModulatedContinuousWaveform

Frequency modulated continuous waveform.

Indicates which frequency modulated continuous waveform model is chosen.

Field	Type	Label	Description
oneof model system_frequency_modulated_continuous_waveform	SystemFrequencyModulatedContinuousWaveform		SystemFrequencyModulatedContinuousWaveform.
oneof model performance_frequency_modulated_continuous_waveform	PerformanceFrequencyModulatedContinuousWaveform		PerformanceFrequencyModulatedContinuousWaveform.
oneof model arbitrary_system_frequency_modulated_continuous_waveform	ArbitrarySystemFrequencyModulatedContinuousWaveform		ArbitraryFrequencyModulatedContinuousWaveform.

HammingWindow

Hamming window model.

HannWindow

Hann window model.

Mode

Parameters to be updated for a radar mode.

Field	Type	Label	Description
identifier	google.protobuf.Int32Value		Identifier of the mode. To be considered as a key to modify an existing mode. Note: Adding or removing mode through feedback control is not allowed.
waveform	Waveform		Waveform.
range_doppler_processor	RadarProcessor		RadarProcessor.
start_delay	google.protobuf.DoubleValue		Latency between the start of the frame and the first pulse or chirp sent by the mode's CPI. Note: This parameter impacts the frame rate.
tx_antenna_ids	int32	repeated	List of the transmitting antenna IDs to use in this mode.
rx_antenna_ids	int32	repeated	List of the receiving antenna IDs to use in this mode.
activate_mode	google.protobuf.BoolValue		Activation or deactivation of the mode.
Gain	google.protobuf.DoubleValue		Gain. Negative values correspond to a loss and positive values correspond to an amplification, 0 being neutral. Unit: dB Note: If no value is set, previous gain type and value are kept. If a value is set, the new value is applied in Manual type whatever the previous type (Automatic or Manual).
Noise	google.protobuf.DoubleValue		Noise standard deviation. Unit: dBW Note: If a value is set, noise is activated and value is applied.
tx_weighting	TxWeighting		TxWeighting.
oneof phase_noise pedestal_parametric_phase_noise	PedestalParametricPhaseNoise		Phase noise defined as a pedestal parametric model.
oneof phase_noise piecewise_linear_phase_noise	PiecewiseLinearPhaseNoise		Phase noise defined as a piecewise linear model, using a sequence of power spectral densities.
range_filter_1	RangeFilter		The parameters of the first range filter. Note: This parameter only applies to radars with a range filter.
range_filter_2	RangeFilter		The parameters of the second range filter. Note: This parameter only applies to radars with two range filters.

PedestalParametricPhaseNoise

Parameters of the phase noise when it is defined by a linear function.

Field	Type	Label	Description
pedestal_power	double		Pedestal peak. Unit: dBc/Hz (decibels relative to the carrier) Range: [-double max, 0]
pedestal_width	double		Pedestal width. Unit: hertz (Hz) Range: strictly positive
roll_off_order	double		Roll-off order. Unit: No unit Range: ]1, double max] (generally between 2 and 4)

Performance

Parameters of the performance pulse doppler waveform.

Field	Type	Label	Description
range_resolution	google.protobuf.DoubleValue		Target range resolution of the output frame. Unit: meters (m)
velocity_resolution	google.protobuf.DoubleValue		Target velocity resolution of the output frame. Unit: meters per seconds (m/s) Note: This parameter impacts the frame rate.
range_ambiguity	google.protobuf.DoubleValue		Maximum unambiguous range or range period. Unit: meters (m)
velocity_ambiguity	google.protobuf.DoubleValue		Maximum unambiguous velocity or velocity period. Unit: meters per seconds (m/s) Note: This parameter impacts the frame rate.

PerformanceFrequencyModulatedContinuousWaveform

Performance frequency modulated continuous waveform.

Field	Type	Label	Description
sampling_rate	google.protobuf.DoubleValue		Sampling frequency of the analog-to-digital converter. Unit: hertz (Hz)
performance	Performance		Performance.
rx_components	RxComponents		RxComponents.

PerformancePulseDopplerWaveform

Performance pulse doppler waveform.

Field	Type	Label	Description
performance	Performance		Performance.

PiecewiseLinearPhaseNoise

Parameters of the phase noise when it is defined as a sequence of power spectral densities.

Field	Type	Label	Description
power_spectral_densities	PowerSpectralDensityEntry	repeated	List of power spectral density entries. A power spectral density entry consists of one frequency offset and one power spectral density. Note: The list must contain at least two entries. Note: The frequency offsets should be unique and in ascending order.

PowerSpectralDensityEntry

Power spectral densities at given frequency offsets.

Field	Type	Label	Description
frequency_offset	double		The frequency offset. Unit: hertz (Hz) Range: strictly positive
power_spectral_density	double		The power spectral density. Unit: decibel (dB) Range: [-double max, 0]

PulseDopplerWaveform

Pulse doppler waveform.

Indicates which pulse doppler waveform model is chosen.

Field	Type	Label	Description
oneof model system_pulse_doppler_waveform	SystemPulseDopplerWaveform		SystemPulseDopplerWaveform.
oneof model performance_pulse_doppler_waveform	PerformancePulseDopplerWaveform		PerformancePulseDopplerWaveform.
oneof model arbitrary_system_pulse_doppler_waveform	ArbitrarySystemPulseDopplerWaveform		ArbitrarySystemPulseDopplerWaveform

RadarProcessor

Radar processor parameters.

Field	Type	Label	Description
range_pixels	google.protobuf.Int32Value		Range resolution of the output range doppler map image.
velocity_pixels	google.protobuf.Int32Value		Velocity resolution of the output range doppler map image.
range_window	Window		Range window of the output range doppler map image.
velocity_window	Window		Velocity window of the output range doppler map image.
center_velocity	google.protobuf.DoubleValue		Center value of the velocity range.

RangeFilter

Range filter parameters.

Field	Type	Label	Description
range_cutoff	double		The range cutoff. Defines the range where the magnitude of the filter transfer function is 1/sqrt(2) or -3 dB. Unit: meter (m) Range: strictly positive
oneof roll_off roll_off_order	int32		The roll-off order, associated to the Order type. Range: [1, 50]
oneof roll_off roll_off_point	RollOffPoint		The roll-off definition, associated to the Set Point type.

RollOffPoint

The parameters of a roll-off whose type is Set Point.

Field	Type	Label	Description
range_stop	double		The range stop. Range beyond which Stop Level attenuation must be met or exceeded. Unit: meter (m) Range: strictly positive. For low-pass filters, it must be greater than the value set for the range_cutoff. For high-pass filters, it must be less than the value set for the range_cutoff.
stop_level	double		The stop level. Attenuation level that must be met or exceeded for ranges further into the stop band beyond the stop range. Unit: decibel (dB) Range: strictly negative

SystemFrequencyModulatedContinuousWaveform

System frequency modulated continuous waveform.

Field	Type	Label	Description
bandwidth	google.protobuf.DoubleValue		Frequency bandwidth of the waveform. Unit: hertz (Hz)
sampling_rate	google.protobuf.DoubleValue		Sampling frequency of the analog-to-digital converter. Unit: hertz (Hz)
number_of_samples_per_chirp	google.protobuf.Int32Value		Number of samples per chirp.
chirp_interval	google.protobuf.DoubleValue		Time interval between subsequent chirps, equal to the inverse of the chirp repetition frequency. Unit: seconds (s) Note: This parameter impacts the frame rate.
number_of_chirps_in_coherent_processing_interval	google.protobuf.Int32Value		Number of chirps in one coherent processing interval (CPI). Note: This parameter impacts the frame rate.
rx_components	RxComponents		RxComponents.

SystemPulseDopplerWaveform

System pulse doppler waveform.

Field	Type	Label	Description
bandwidth	google.protobuf.DoubleValue		Frequency bandwidth of the waveform. Unit: hertz (Hz)
number_of_frequency_samples	google.protobuf.Int32Value		Number of frequency samples.
pulse_interval	google.protobuf.DoubleValue		Time interval between two subsequent pulses, equal to the inverse of the pulse frequency. Unit: seconds (s) Note: This parameter impacts the frame rate.
number_of_pulses_in_coherent_processing_interval	google.protobuf.Int32Value		Number of pulses in one coherent processing interval (CPI). Note: This parameter impacts the frame rate.

TaylorWindow

Taylor window model.

Field	Type	Label	Description
side_lobe_level	double		Ratio of the main peak value to the side-lobe peak.

TxWeighting

Represents radar weighting sequences.

Note: When adjusting the weighting sequence via the feedback control, be sure to update each parameter of the sequence to keep it consistent.

Field	Type	Label	Description
oneof txWeightings weightings_by_transmitter	WeightingByTransmitter		WeightingByTransmitter.
oneof txWeightings weightings_by_pulses_or_chirps	WeightingByPulsesOrChirps		WeightingByPulsesOrChirps.

Waveform

Waveform model.

Indicates which waveform model is chosen.

Note: Changing the waveform model during the simulation is not allowed. If you do so, the message will be rejected.

Field	Type	Label	Description
oneof model pulse_doppler_waveform	PulseDopplerWaveform		PulseDopplerWaveform.
oneof model frequency_modulated_continuous_waveform	FrequencyModulatedContinuousWaveform		FrequencyModulatedContinuousWaveform.

Weighting

Represents a single weighting value with real and imaginary parts.

Field	Type	Label	Description
real_part	double		Real part of the complex weighting.
imaginary_part	double		Imaginary part of the complex weighting.

WeightingByPulsesOrChirps

Represents weightings described by pulses or chirps.

Field	Type	Label	Description
weightings_by_transmitter	WeightingByTransmitter	repeated	List of weightings by transmitter for each pulse or chirp.

WeightingByTransmitter

Represents weightings described by the transmitter.

Field	Type	Label	Description
weightings	Weighting	repeated	List of weightings for each antenna or transmitter.

Window

Window.

Indicates which window model is chosen.

Field	Type	Label	Description
oneof model flat_window	FlatWindow		FlatWindow.
oneof model hamming_window	HammingWindow		HammingWindow.
oneof model hann_window	HannWindow		HannWindow.
oneof model taylor_window	TaylorWindow		TaylorWindow.

RxComponents

The possible types of mixing for the comparison of emitted signal vs received signal.

Name	Number	Description
NONE_RXCOMPONENTS	0
IN_PHASE	1
IN_PHASE_AND_QUADRATURE	2

ansys/api/avxcelerate/sensors/v1/geometry.proto

This file describes the geometric messages used in other messages of the API.

EulerAngles

Euler angles.

Note: In AVX convention, yaw is the rotation around the Y axis, pitch is the rotation around the X axis and roll is the rotation around the Z axis.

Field	Type	Label	Description
yaw	double		The rotation around the Y axis.
pitch	double		The rotation around the X axis.
roll	double		The rotation around the Z axis.

Vector3D

Vector in a 3D referential.

Field	Type	Label	Description
x	double		Value on the X axis.
y	double		Value on the Y axis.
z	double		Value on the Z axis.

ansys/api/avxcelerate/sensors/v1/ground_truth_access/camera_ground_truth.proto

This file describes the message related to camera ground truth data.

PixelSegmentationTagColorMap

Mapping table of tags and colors used in the simulation for the pixel segmentation camera output.

Field	Type	Label	Description
tag_color_map	map PixelSegmentationTagColorMap-TagColorMapEntry	repeated	The tag-color mapping table. Key [string]: The name of the tag. Value [Color]: The RGB color.
status	ansys.api.avxcelerate.sensors.v1.Status		The status of the request

PixelSegmentationTagColorMap-TagColorMapEntry

Field	Type	Label	Description
key	string
value	ansys.api.avxcelerate.sensors.v1.Color

ansys/api/avxcelerate/sensors/v1/ground_truth_access/contribution_dictionary.proto

This file describes the messages related to the Contribution dictionary, a table linking the entity IDs in the contribution output to the asset information.

AssetDescription

Description of the asset linked to the entity ID.

Field	Type	Label	Description
instance_name	string		The name of the simulation instance using the asset.
asset_path	string		The path to the asset loaded in the AVX simulation.

ContributionDictionary

Dictionary used to relate each entity ID in the contribution output to the description of the asset and its nodes.

Field	Type	Label	Description
items	EntityContributionDescription	repeated	The collection of items relating the entity ID from the contribution output to the asset information.
status	ansys.api.avxcelerate.sensors.v1.Status		The status of the request.

EntityContributionDescription

Description of the mesh node, its parent nodes and the asset linked to the entity ID.

Field	Type	Label	Description
EntityID	uint32		The ID of the entity in the simulation.
asset_description	AssetDescription		The description of the asset.
node_hierarchy	NodeDescription	repeated	The list of descriptions of the mesh node and all its parents.
mesh_description	MeshDescription		The description of the mesh.

MeshDescription

Description of the mesh associated with the entity ID.

Field	Type	Label	Description
mesh_part_name	string		The name of the mesh part associated with the entity ID.
material_path	string		The path to the material part used by the mesh part.
mesh_name	string		The name of the mesh associated with the entity ID.

NodeDescription

Description of a node linked to the entity ID.

Field	Type	Label	Description
name	string		The name of the node in the simulation.
tags	TagDescription	repeated	The tag(s) associated with the node.

SensorIdentifier

The identifier of the sensor as defined in the sensor configuration.

Field	Type	Label	Description
sensor_id	string		The identifier of the sensor.

TagDescription

Description of the tag associated with the entity ID.

Field	Type	Label	Description
tag	string		The name of the tag applied to the node in the asset.
label	string		The additional tag label applied to the node in the asset.

ansys/api/avxcelerate/sensors/v1/ground_truth_access/ground_truth_data_helper.proto

This file describes the service used to get auxiliary information about sensor ground truth data.

GroundTruthDataHelper

Ground Truth Data Helper Service

This service provides the procedures to acquire ground truth auxiliary information.

Method Name	Request Type	Response Type	Description
GetContributionDictionary	SensorIdentifier	ContributionDictionary	Requests a dictionary which offers the possibility to relate IDs in the contribution output of the lidar specified in the request message to the asset information.
GetPixelSegmentationTagColorMap	.google.protobuf.Empty	PixelSegmentationTagColorMap	Requests the mapping table of tags and colors used in the simulation for the pixel segmentation camera output.

ansys/api/avxcelerate/sensors/v1/lighting_system_control/lighting_system.proto

This file describes the service used to manage Lighting Systems.

LightingSystem

Lighting System Service

This service provides the procedure to define the Lighting System to set as active.

Note: The changes will be applied at the next world update (requested using the Update method of the Simulation service).

Method Name	Request Type	Response Type	Description
Switch	.ansys.api.avxcelerate.sensors.v1.ObjectIdentifier	.ansys.api.avxcelerate.sensors.v1.Status	Changes the active Lighting System to the one defined as input parameter.

ansys/api/avxcelerate/sensors/v1/lighting_system_control/lighting_system_control.proto

This file describes the service used to implement a lighting system control.

LightingSystemControl

Lighting System Control Service

This service provides the procedures to retrieve and update the position and orientation of each projector and module contained in a Lighting System, as well as the flux and light functions of each lamp contained in a module.

Note: The changes will be applied at the next world update (requested using the Update method of the Simulation service).

Method Name	Request Type	Response Type	Description
Set	LightingSystemState	.ansys.api.avxcelerate.sensors.v1.Status	Updates some properties of a Lighting System's components, such as the position or orientation of projectors or modules, or the flux or light functions of lamps. Note: Only the components and properties specified in the LightingSystemState message will be updated. Returns an error if any of the names provided in the request (in the LightingSystemState message) does not exist, or in case of errors in the parameters to update (for example when a provided value is out of range). Returns a success status when the content of the request (in the LightingSystemState message) is valid. The changes will then be applied to the simulation at the next world update.
Get	LightingSystemName	TimeStampedLightingSystemState	Requests the current state of a given Lighting System defined by its name. Returns the state of the Lighting System at a specific simulation time.

ansys/api/avxcelerate/sensors/v1/lighting_system_control/lighting_system_state.proto

This file describes the messages used to retrieve and control Lighting System parameters during the simulation execution.

LampState

Message containing the state of a lamp.

Field	Type	Label	Description
lamp_name	string		Unique user-defined name of the lamp in the module.
flux	double	optional	Flux of the lamp. Unit: lumens (lm)
light_functions_tags	LightFunctionTags		Light functions tags.

LightFunctionTags

Message containing the light function tag(s) of a lamp.

Field	Type	Label	Description
light_functions	string	repeated	Light functions.

LightingSystemName

Name of the Lighting System.

Field	Type	Label	Description
name	string		Unique user-defined name of the Lighting System in the simulation.

LightingSystemState

This message contains lighting system parameters.

Note: When this message is returned by the Get procedure, it includes all the current properties of the Lighting System. When this message is used as input of the Set procedure, it should include the name to identify the Lighting System to update as well as the parameter(s) to be updated.

Field	Type	Label	Description
lighting_system_name	LightingSystemName		Name of the Lighting System.
projectors_state	ProjectorState	repeated	List of projectors contained in the Lighting System.

ModuleState

Message containing the state of a module.

Field	Type	Label	Description
module_name	string		Unique user-defined name of the module in the projector.
lamps_state	LampState	repeated	List of lamps contained in this module.
position	ansys.api.avxcelerate.sensors.v1.Vector3D		Position of the module relative to the projector. Unit: meters (m)
orientation	ansys.api.avxcelerate.sensors.v1.EulerAngles		Orientation of the module relative to the projector. Unit: degrees
pixel_beam_state	PixelBeamState		Definition of the pixel beam.

PixelBeamState

Message containing the state of the pixel beam associated with the module.

Field	Type	Label	Description
mask	float	repeated	The float array representing the pixel beam mask, each entry representing a pixel light intensity multiplier. An empty mask means the pixel beam is set to 0. The size of the mask must be aligned with the mask resolution (width x height). Range: [0, float max]
hmin	float	optional	Minimal horizontal angle corresponding to the bottom border of the pixel beam area. Unit: degrees Range: [-180, hmax[
hmax	float	optional	Maximal horizontal angle corresponding to the top border of the pixel beam area. Unit: degrees Range: ]hmin, 180]
vmin	float	optional	Minimal vertical angle corresponding to the left border of the pixel beam area. Unit: degrees Range: [-90, vmax[
vmax	float	optional	Maximal vertical angle corresponding to the right border of the pixel beam area. Unit: degrees Range: ]vmin, 90]
width	int32	optional	Horizontal resolution expressed in pixels. Range: ]0, 3840]
height	int32	optional	Vertical resolution expressed in pixels. Range: ]0, 2160]

ProjectorState

Message containing the state of a projector.

Field	Type	Label	Description
projector_name	string		Unique user-defined name of the projector in the Lighting System.
modules_state	ModuleState	repeated	List of modules contained in this projector.
position	ansys.api.avxcelerate.sensors.v1.Vector3D		Position of the projector relative to the Lighting System origin. Unit: meters (m)
orientation	ansys.api.avxcelerate.sensors.v1.EulerAngles		Orientation of the projector relative to the Lighting System origin. Unit: degrees

TimeStampedLightingSystemState

State of a Lighting System at a specific simulation time.

Note: This message is the return of the Get procedure of the Lighting System Control service.

Field	Type	Label	Description
lighting_system_state	LightingSystemState		The state of the Lighting System.
simulation_time	google.protobuf.Duration		The simulation time.

ansys/api/avxcelerate/sensors/v1/object_identifier.proto

This file describes the message used to identify an object.

ObjectIdentifier

Unique identifier of a simulation object.

It applies to vehicles, pedestrians, static objects (e.g. road signs) or Lighting Systems.

Field	Type	Label	Description
id	string		Unique identifier of the associated object. Note: The identifier is case-sensitive.

ansys/api/avxcelerate/sensors/v1/resource_identifier.proto

This file describes the message used to identify a resource.

ResourceIdentifier

Defines the unique identifier of any resource for the simulation.

It applies to track, assets (vehicles, pedestrians, static objects), sensors or Lighting Systems.

Field	Type	Label	Description
id	string		The unique string that identifies the resource. Note: Most of the time, the expected value is the full file name and path of the resource.

ansys/api/avxcelerate/sensors/v1/sensor_data/camera_output_data.proto

This file describes the messages used for the camera output data.

BoundingBox2D

2D bounding box data including coordinates defining its position in the image frame and the tag and label associated with the object.

A 2D bounding box corresponds to the projection of 3D bounding box on the camera image plane.

Field	Type	Label	Description
x_min	int32		x min pixel coordinates.
y_min	int32		y min pixel coordinates.
x_max	int32		x max pixel coordinates.
y_max	int32		y max pixel coordinates.
tag_name	string		Tag associated with the object during the data preparation.
label	string		Label associated with the object during the data preparation.
x_center	int32		Position of the bounding box center on the x axis.
y_center	int32		Position of the bounding box center on the y axis.
z_center	float		Normalized depth of the bounding box center.

BoundingBox3D

3D bounding box data including coordinates in the world reference frame.

Note: The 3D Bounding Box is delivered as a beta feature in the current release.

Field	Type	Label	Description
isobarycenter	ansys.api.avxcelerate.sensors.v1.Vector3D		Isobarycenter coordinates in the camera reference frame. Unit: meters (m)
dimensions	ansys.api.avxcelerate.sensors.v1.Vector3D		Dimension of the object in the world reference frame. Unit: meters (m)
orientation	ansys.api.avxcelerate.sensors.v1.EulerAngles		Orientation of the object in the camera reference frame. Unit: radians (rad)
tag_name	string		Tag associated with the object during the data preparation.

CameraGroundTruthData

Camera data for ground truth output.

Field	Type	Label	Description
camera_format	ansys.api.avxcelerate.sensors.v1.CameraGroundTruthDataFormat		Format of the ground truth data.
camera_data	bytes		Byte array containing the ground truth data.

CameraImageData

Camera data for image output.

Field	Type	Label	Description
camera_format	ansys.api.avxcelerate.sensors.v1.CameraDataFormat		Type of image produced by the camera. Can be one of the following: RAW, TEMPERATURE_MAP, SPECTRAL_IRRADIANCE_MAP or CUSTOM_DATA.
camera_data	bytes		Byte array containing the image. Note: For the special case of TEMPERATURE_MAP, the camera_data message contains the temperature map as a string organized with one float value per pixel and one line of text per line in the image.

CameraLensOutput

Spectral irradiance map produced by the lens of the camera sensor and associated auxiliary information.

Field	Type	Label	Description
resolution	CameraResolution		Resolution of the imager.
spectral_sampling	SpectralSampling		Spectral sampling.
camera_data	float	repeated	Float array containing the spectral irradiance data. The number of irradiance values is equal to the product of the number of wavelengths times the number of pixels in the imager: Nb_E = [nb_spectral_samples * nb_vertical_pixels * nb_horizontal_pixels] The received data consists of 8 spectral values per pixel, starting from the upper left corner of the image, line per line. 8 spectral values for pixel0 (vertical_coordinate0;horizontal_coordinate0) 8 spectral values for pixel1 (vertical_coordinate0;horizontal_coordinate1) ... Unit: watts per square meter per nanometer (W/m^2/nm).

CameraResolution

Resolution of the imager in number of pixels.

Field	Type	Label	Description
width	int32		Width of the imager sensor in number of pixels.
height	int32		Height of the imager sensor in number of pixels.

SpectralSampling

The spectral sampling.

Field	Type	Label	Description
wavelength	Wavelength	repeated	The list of wavelengths constituting the spectral sampling. The list contains at least one wavelength. If it includes several wavelengths, they are provided in ascending order.

Wavelength

The wavelength representation.

Field	Type	Label	Description
value	double		The value of the wavelength. Unit: meters (m).

ansys/api/avxcelerate/sensors/v1/sensor_data/lidar_output_data.proto

This file describes the messages used for the lidar output data.

Contribution

The contribution per contributor.

Field	Type	Label	Description
identity	uint32		Identifier of a contributor (the material part the lidar encountered during the simulation). Note: This identifier is automatically generated for each material part during the data preparation.
weight	float		The contribution ratio of the associated material part. Note: The ratio is expressed as a float value comprised between [0 ; 1].

ContributionData

Lidar contribution output data.

For each point of the point cloud, the contribution data contains the ID of each contributor and its contribution ratio.

Field	Type	Label	Description
contributions	Contributions	repeated	An array of Contributions.

Contributions

Group of contributions for each point of the point cloud.

Field	Type	Label	Description
contributions	Contribution	repeated	An array of lidar Contribution.

LensOutputData

Radiant flux data.

Note: Lens output data are stored sequentially.

Field	Type	Label	Description
waveform_length	int32		The number of values for each sample.
data	float	repeated	All the radiant flux values for all the samples.

LidarOutputData

Output data produced by a lidar sensor.

Field	Type	Label	Description
point_clouds	PointCloudData		Point Cloud data produced by a lidar sensor.
waveforms	WaveformData		Digital Waveform data produced by a lidar sensor.
contributions	ContributionData		Contribution list data.
lens_output	LensOutputData		Radiant Flux data produced by a lidar sensor configured to generate "Lens Output (Radiant Flux)".

PointCloud

Point cloud data for one lidar return.

Each point is defined by 4 float values defining its position (x, y, z) and its intensity.

Field	Type	Label	Description
data	float	repeated

PointCloudData

Array of lidar point cloud data.

Note: There is one point-cloud data for each lidar return.

Field	Type	Label	Description
point_clouds	PointCloud	repeated

WaveformData

Digital Waveform data.

Note: Digital waveforms are stored sequentially. Each single waveform data has length.

Field	Type	Label	Description
waveform_length	int32		The number of values contained in a single digital waveform.
data	float	repeated	All the intensity values for all the waveforms.

ansys/api/avxcelerate/sensors/v1/sensor_data/radar_output_data.proto

This file describes the messages used for the radar output data.

AnalogToDigitalConverterSamplesData

The radar output data for analog-to-digital converter samples.

Data are stored as multi-dimensional array of complex values or real values, depending on the is_complex_valued flag in the message. The physical dimensions are [TX, RX, chirp time, sample time], therefore the data contains:

numTX x numRX x numChirpTime x numSampleTime complex numbers

or equivalently

2 x numTX x numRX x numChirpTime x numSampleTime real numbers

If the complex data is read sequentially, the outermost loop corresponds to the TX dimension, then RX, then chirp time, and then sample time which is the innermost.

Field	Type	Label	Description
data	float	repeated	The multi-dimensional array.
sample_time_domain	Domain		The number of time samples and the min/max values in the samples.
chirp_time_domain	Domain		The number of chirp time samples and the min/max values in the samples.
rx_identifiers	int32	repeated	The identifier of each receiver antenna.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
is_complex_valued	bool		Flag indicating whether or not the values are defined as complex numbers.
multiplexing	Multiplexing		The type of multiplexing.

ArbitraryAnalogToDigitalConverterSamplesData

The radar output data for Arbitrary analog-to-digital converter samples.

Data are stored as multi-dimensional array of complex values or real values, depending of the is_complex_valued flag of the message. The physical dimensions are [TX, RX, Sample] and so the data contains:

numberOfTX x numberOfRX x numberOfSamples complex numbers

or equivalently

2 x numberOfTX x numberOfRX x numberOfSamples real numbers

If the complex data is read sequentially, the outermost loop corresponds to the TX dimension, then RX dimension, then Sample dimension which is the innermost.

Field	Type	Label	Description
data	float	repeated	The multi-dimensional array.
number_of_samples	int32		The number of samples.
rx_identifiers	int32	repeated	The identifier of each receiver antenna.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
is_complex_valued	bool		Flag indicating whether or not the values are defined as complex numbers.
multiplexing	Multiplexing		Type of multiplexing.

ArbitraryFrequencyPulseResponseData

The radar output data for Arbitrary pulse frequency response.

Data are stored as multi-dimensional array of complex values, with interleaved real and imaginary parts: real1, imag1, real2, imag2 etc. The physical dimensions are [TX, RX, Sample], therefore the data contains:

numberOfTX x numberOfRX x numberOfSamples complex numbers

or equivalently

2 x numberOfTX x numberOfRX x numberOfSamples real numbers

If the complex data is read sequentially, the outermost loop corresponds to the TX dimension, then RX dimension, then Sample dimension which is the innermost.

Field	Type	Label	Description
data	float	repeated	The multi-dimensional array.
number_of_samples	int32		The number of samples.
rx_identifiers	int32	repeated	The identifier of each receiver antenna.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
multiplexing	Multiplexing		The type of multiplexing.

Domain

A radar data domain.

Indicates how to retrieve information from the float array of the containing data message.

Field	Type	Label	Description
size	int32		The number of samples for this domain.
min_value	double		The minimal value in the samples.
max_value	double		The maximal value in the samples.

FrequencyPulseResponseData

The radar output data for pulse frequency response.

Data are stored as multi-dimensional array of complex values, with interleaved real and imaginary parts: real1, imag1, real2, imag2 etc. The physical dimensions are [TX, RX, pulse time, frequency], therefore the data contains:

numTX x numRX x numPulseTime x numFrequencies complex numbers

or equivalently

2 x numTX x numRX x numPulseTime x numFrequencies real numbers

If the complex data is read sequentially, the outermost loop corresponds to the TX dimension, then RX, then pulse time, and then frequencies which is the innermost.

Field	Type	Label	Description
data	float	repeated	The multi-dimensional array.
frequency_domain	Domain		The number of frequency samples and the min/max values in the samples.
pulse_time_domain	Domain		The number of pulse time samples and the min/max values in the samples.
rx_identifiers	int32	repeated	The identifier of each receiver antenna.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
multiplexing	Multiplexing		The type of multiplexing.

ModeOutputData

Radar output data for a given mode.

Field	Type	Label	Description
range_doppler_response	RangeDopplerResponseData		Range Doppler Map data.
frequency_pulse_response	FrequencyPulseResponseData		Pulse Frequency Response data.
analog_to_digital_converter_samples	AnalogToDigitalConverterSamplesData		Analog-To-Digital Converter Samples data.
mode_identifier	int32		Identifier of the radar mode.
tx_waveform	TxWaveformData		Tx Waveform Data.
arbitrary_frequency_pulse_response	ArbitraryFrequencyPulseResponseData		Pulse Frequency Response data produced by a radar mode configured with the "Arbitrary Pulse Doppler" waveform.
arbitrary_analog_to_digital_converter_samples	ArbitraryAnalogToDigitalConverterSamplesData		Analog-To-Digital Converter Samples data produced by a radar mode configured with the "Arbitrary FMCW" waveform.
response_to_tx_waveform_map	uint32	repeated	Response to Tx waveform map. List of indexes mapping the response data to the Tx waveform data. - The position in the list represents the sample index in the response data. - The value in the list represents the sample index in the Tx waveform data.

RadarOutputData

Radar output data for all the modes.

Field	Type	Label	Description
modes	ModeOutputData	repeated	An array of ModeOutputData.

RangeDopplerResponseData

The radar range doppler output data.

Data are stored as multi-dimensional array of complex values, with interleaved real and imaginary parts: real1, imag1, real2, imag2 etc. The physical dimensions are [TX, RX, velocity, range], therefore the data contains:

numTX x numRX x numVelocities x numRanges complex numbers

or equivalently

2 x numTX x numRX x numVelocities x numRanges real numbers

If the complex data is read sequentially, the outermost loop corresponds to the TX dimension, then RX, then velocity, and then range which is the innermost.

Field	Type	Label	Description
data	float	repeated	The multi-dimensional array.
range_domain	Domain		The number of range samples and the min/max values in the samples.
velocity_domain	Domain		The number of velocity samples and the min/max values in the samples.
rx_identifiers	int32	repeated	The identifier of each receiver antenna.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
multiplexing	Multiplexing		The type of multiplexing.

TxWaveformData

The radar output data for the transmitted waveform.

Data are stored as a multi-dimensional array of values. The physical dimensions are [pulses or chirps, samples, values per sample], therefore the data contains:

numPulsesOrChirps x numSamples x numValuesPerSample numbers

Field	Type	Label	Description
data	double	repeated	The multi-dimensional array.
tx_identifiers	int32	repeated	The identifier of each transmitter antenna.
number_of_values_per_sample	int32		The number of values for a single waveform sample. Current implementation will provide nine values for each sample, organized as follows: - Pulse or chirp index (0-based): the pulse/chirp position within the pulse/chirp sequence. - Sample index (0-based): the sample position within a pulse/chirp. - Transmitter index (0-based position): the transmitter position in the tx_identifiers list. - Simulation sample time: the sample time relative to the simulation update time. Expressed in seconds (s). - CPI sample time: the sample time relative to the center of CPI. Expressed in seconds (s). - Chirp sample time: the sample time relative to the center of chirp. Expressed in seconds (s). Always zero for a pulse-Doppler waveform. - Sample frequency: the frequency of sample in hertz (Hz). - Amplitude: the relative broadcast amplitude of the sample, currently always unity (1). - Phase: the phase of the broadcast sample relative to the signal fed to rx mixer, currently always zero (0). All values are double-precision, including notionally integer values (i.e. indices). Note: The number of values per sample might increase in future versions.
number_of_samples	int32		The number of samples for a single pulse or chirp.
number_of_pulses_or_chirps	int32		The number of pulses or chirps in the waveform.

Multiplexing

The possible ways a radar can use its TX antennas.

Name	Number	Description
INTERLEAVED	0	Interleaved multiplexing.
SIMULTANEOUS	1	Simultaneous multiplexing.

ansys/api/avxcelerate/sensors/v1/sensor_data/sensor_data.proto

This file describes the messages containing the needed information to interpret the serialized sensor data received from AVX. A sensor data is composed of one or multiple data chunks (e.g. lidar sensor data can be composed of a point-cloud chunk, a waveforms chunk, etc.).

CameraData

Block containing a set of camera data.

Field	Type	Label	Description
entries	CameraDataEntry	repeated	List of camera data entries.

CameraDataEntry

A single formatted camera data.

Field	Type	Label	Description
oneof output image_data	CameraImageData		Image produced by the camera sensor.
oneof output ground_truth_data	CameraGroundTruthData		Ground truth data produced for the camera sensor.
oneof output bounding_box_2d	BoundingBox2D		2D Bounding box produced.
oneof output camera_lens_output	CameraLensOutput		Spectral irradiance map, which is the lens output of the camera sensor.
oneof output camera_custom_data_output	CameraImageData		Custom data, which is custom data output of the camera sensor.
oneof output bounding_box_3d	BoundingBox3D		3D Bounding box produced.

LidarData

Block containing a set of formatted lidar data.

Field	Type	Label	Description
entries	LidarDataEntry	repeated	List of lidar data entries.

LidarDataEntry

A single formatted lidar data.

Field	Type	Label	Description
oneof format point_cloud_data	PointCloudData		Point cloud data produced by the lidar sensor.
oneof format waveform_data	WaveformData		Digital waveform data produced by the lidar sensor.
oneof format contribution_data	ContributionData		Contribution List produced for the lidar sensor.
oneof format lens_output_data	LensOutputData		Lens Output data produced by the lidar sensor.

RadarData

Block containing a set of formatted radar data.

Field	Type	Label	Description
entries	RadarDataEntry	repeated	List of radar data entries.

RadarDataEntry

A single formatted radar data.

Field	Type	Label	Description
oneof format radar_data	RadarOutputData		RadarOutputData

SensorData

Structure of the data produced by a single sensor for one simulation step.

Time stamp and type of the produced sensor data.

Field	Type	Label	Description
time_stamp	google.protobuf.Duration		The simulation time stamp at which the data was produced.
oneof data camera_data	CameraData		The type of data produced by the camera sensor.
oneof data lidar_data	LidarData		The type of data produced by the lidar sensor.
oneof data radar_data	RadarData		The type of data produced by the radar sensor.

ansys/api/avxcelerate/sensors/v1/sensor_data_format.proto

This file describes the sensor data formats and types used in notifications and request messages.

CameraDataFormat

The possible file formats and data types of the data produced by a camera.

The data types correspond to the types of image (irradiance map, temperature map, etc.) and are only used to describe images stored in shared memory.

The file formats correspond to the file format of the images (e.g. bmp, gif) and are only used to write images to disk. These data formats are therefore not available for storing data in shared memory.

Name	Number	Description
UNDEFINED_CAMERA_FORMAT	0	Undefined value (default value will apply).
RAW	1	RAW format (default). Note: Can be used for dumping images or describing images stored in shared memory.
BMP	2	BMP file format.
GIF	3	GIF file format.
JPEG	4	JPEG file format.
PNG	5	PNG file format.
TEMPERATURE_MAP	6	Temperature map (data type for thermal camera output).
SPECTRAL_IRRADIANCE_MAP	7	Spectral irradiance map (data type for camera lens output).
CUSTOM_DATA	8	Custom data (data type for custom GPU post-processing).

CameraGroundTruthDataFormat

The possible recording formats available for Ground Truth data.

Name	Number	Description
UNDEFINED_GROUND_TRUTH_FORMAT	0	Undefined value.
DEPTH_MAP	1	Depth map format. Represented by a byte array of 32 bits per pixel (RGBA image).
OPTICAL_FLOW	2	Optical flow format. Represented by a byte array of 2 x 32 bits per pixel (horizontal speed first, then vertical speed).
PIXEL_SEGMENTATION	3	Pixel Segmentation format. Represented by a byte array of 24 bits per pixel (RGB image).

LidarDataFormat

The possible data formats for lidar sensors' output.

Name	Number	Description
UNDEFINED_LIDAR_FORMAT	0	Undefined value (default value will apply).
POINT_CLOUD	1	Point cloud data format (default value).
WAVEFORM	2	Waveform data format.
CONTRIBUTIONS	3	Contributions data format.
LENS_OUTPUT	4	Lens output data format.

OutputFormat

The possible recording formats available for radar and lidar sensors' output.

Name	Number	Description
UNDEFINED	0	Undefined value (default will apply).
TEXT	1	Text format (default).
PROTOBUF	2	Protobuf format.

PixelFormat

The possible pixel formats of the data generated by a camera.

This format describes the type of data stored (byte or float) as well as how the data is arranged.

Note: In addition to the usages mentioned below, each pixel format is possible for the output of a camera with custom post-processing, based on the Custom Output Format defined in the camera model.

Name	Number	Description
UNDEFINED_PIXEL_FORMAT	0	Undefined value (default value will apply).
RGBA32	1	Rgba32 represents the sRGB format with an alpha channel and 32 bits per pixel. Each channel (red, green, blue, and alpha) is assigned 8 bits per pixel. (This is the default value.) Format used for Camera Output (Image) and Imager Output (Injection) when alpha channel is enabled in the simulation parameters.
RGB24	3	Rgb24 represents the sRGB format with 24 bits per pixel. Each channel (red, green, blue) is assigned 8 bits per pixel. Format used for Camera Output (Image) and Imager Output (Injection) when alpha channel is disabled in the simulation parameters, as well as for ground truth pixel segmentation output.
GRAY8	2	Gray8 pixel format which displays one grayscale channel with 8 bits per pixel, allowing 256 shades of gray. Format used for thermal camera image output.
FLOAT32	4	The Float32 pixel format represents a float channel with 32 bits per pixel. Format used for thermal camera temperature map output and ground truth depth map output.
FLOAT64	5	The Float64 pixel format represents 2 channels of floating point numbers with 32 bits per pixel. Each channel is assigned 32 bits per pixel. Format used for ground truth optical flow output.
FLOAT128	6	The Float128 pixel format represents 4 channels of floating point numbers with 32 bits per pixel. Each channel is assigned 32 bits per pixel. Format used for Lens Output (Light).

RadarDataFormat

The possible data formats for radar sensors' output.

Name	Number	Description
UNDEFINED_RADAR_FORMAT	0	Undefined value (default will apply).
RADAR_OUTPUT	1	Full radar output (default).
RANGE_DOPPLER	2	Range doppler data format.
FREQUENCY_PULSE	3	Frequency pulse data format.
DIGITAL_SAMPLES	4	Digital sample data format.

ansys/api/avxcelerate/sensors/v1/simulation/configuration.proto

This file describes the messages used to configure a simulation.

AssetInfo

Description of an asset.

Field	Type	Label	Description
vss_identity	ansys.api.avxcelerate.sensors.v1.ObjectIdentifier		The unique identifier of the asset. Note: The identifier is case-sensitive.
resource	ansys.api.avxcelerate.sensors.v1.ResourceIdentifier		The path to the asset file or the identifier of the uploaded asset.

Configuration

Configuration message containing all the parameters needed to load resources in AVX.

Field	Type	Label	Description
scene	SceneInfo		Information on the scene in which the simulation takes place.
deploy_configuration	DeployConfiguration		The infrastructure deploy parameters.
simulation_parameters	SimulationParameters		The simulation parameters.
sensors	SensorConfig		The sensor configuration.
lighting_system_configuration	LightingSystemConfiguration		The Lighting System configuration of the ego vehicle. Note: Multiple Lighting Systems can be associated with the ego vehicle, but only one can be set as active. When this parameter is not set, the vehicle lighting is based on the tags defined in the vehicle asset.
ego_vehicle_identity	ansys.api.avxcelerate.sensors.v1.ObjectIdentifier		The unique identifier of the ego vehicle, which is the vehicle instance to which the sensor configuration and Lighting System(s) are attached.

LightingSystem

Description of a Lighting System with its identifier and either a data buffer, or the identifier of an uploaded resource.

Field	Type	Label	Description
identifier	ansys.api.avxcelerate.sensors.v1.ObjectIdentifier		The unique identifier of the Lighting System.
oneof system lighting_system_data	bytes		The encapsulated byte array.
oneof system resource	ansys.api.avxcelerate.sensors.v1.ResourceIdentifier		The identifier of the uploaded Lighting System.

LightingSystemConfiguration

List of all the Lighting Systems associated with the ego vehicle, as well as the active Lighting System.

Field	Type	Label	Description
lighting_systems	LightingSystem	repeated	The list of all Lighting Systems associated with the ego vehicle.
active_lighting_system	ansys.api.avxcelerate.sensors.v1.ObjectIdentifier		The Lighting System that is set as active. Note: If this value is not set, the first Lighting System associated with the ego vehicle is set as active.

SceneInfo

Message containing all the components that make up a scene: the assets and the track.

Field	Type	Label	Description
assets	AssetInfo	repeated	The list of all the assets included in the scene.
track	ansys.api.avxcelerate.sensors.v1.ResourceIdentifier		The path to the track file or the identifier of the uploaded track.

SensorConfig

Description of the sensor configuration as binary data.

Field	Type	Label	Description
sensor_configuration	bytes		The encapsulated byte array. Note: We chose to have a supertype so that it may evolve in the future with lower impact.

ansys/api/avxcelerate/sensors/v1/simulation/deploy_parameters.proto

This file describes the messages used to distribute the simulation across several GPUs and/or workstations.

DeployConfiguration

Configuration parameters for the AVX simulation deployment.

Field	Type	Label	Description
local_nodes	LocalNodes		Parameters used to spawn the AVX local processes.
deploy_hosts	DeployHost	repeated	Parameters used to spawn the AVX remote processes.

DeployHost

Deploy nodes on a remote host.

A deploy host is identified by its IPv4 address.

Note: A deploy host can contain several deploy nodes.

Field	Type	Label	Description
address	string		IPv4 host address used to spawn the AVX processes.
deploy_nodes	DeployNode	repeated	List of deploy nodes on this host.
resource_manager_port	google.protobuf.Int32Value		The TCP port used for the resource manager process on this deploy host.
gpu_identifiers	GpuIdentifier	repeated	The identifiers of the GPUs that are available on this deploy host. Note: Make sure that the identifiers that you provide are valid.
data_access_server_port	google.protobuf.Int32Value		The TCP port used to communicate with the data access server (optional).

DeployNode

Parameters for a deploy node.

Field	Type	Label	Description
node_id	string		A user-defined identifier for the node. This identifier must be unique to the node. Note: The identifier is case-sensitive and can be any string without length constraint.
port	google.protobuf.Int32Value		The TCP port used to communicate with the node.

GpuIdentifier

Identifier of a GPU that includes a name and the identification number of the GPU.

Field	Type	Label	Description
name	string		A user-defined name for the GPU. This identifier must be unique. Note: The identifier is case-sensitive and can be any string without length constraint.
oneof gpu_id index	string		The index number of the GPU. Note: The GPU index might not be consistent between PC reboots. Therefore, it is recommended to use the PCI bus ID (bus_id) or the UUID (uuid) instead. For more details, refer to AVxcelerate Sensors Simulator User's Guide.
oneof gpu_id bus_id	string		The PCI bus identifier of the GPU. Note: The PCI bus identifier must have the format a:b:c.d with a = domain ID, b = bus ID, c = device ID, d = function ID and each represented as base-16 number with 1 to 8 digits.
oneof gpu_id uuid	string		The UUID of the GPU. Note: The UUID must be a string starting with an upper-case 'GPU' followed by five base-16 number blocks separated with a hyphen. The blocks must have the following amount of digits: 8, 4, 4, 4 and 12. Example: GPU-12345678-1234-1234-1234-123456789abc

LocalNodes

Deploy parameters of the local workstation.

Field	Type	Label	Description
min_port	google.protobuf.Int32Value		The first TCP port used to communicate with local nodes. AVX allocates ports to communicate with different processes starting from the port defined in this field. Note: The value must be greater than 1024.
max_port	google.protobuf.Int32Value		The last TCP port used to communicate with local nodes. AVX allocates ports to communicate with different processes up to this last port. Note: The value must be greater than the value defined in the min_port field.
gpu_identifiers	GpuIdentifier	repeated	The identifiers of the GPUs that are available on the local host. Note: Make sure that the identifiers that you provide are valid.

ansys/api/avxcelerate/sensors/v1/simulation/simulation.proto

This file describes the service used to execute the simulation.

Simulation

Simulation Service

This service provides the simulation control procedures.

Note: When using simulation control procedures, make sure you follow a valid simulation sequence. For more details, refer to the API description section of the API documentation. Procedure calls that are not consistent with the current AVX state will end in error.

Method Name	Request Type	Response Type	Description
Load	Configuration	.ansys.api.avxcelerate.sensors.v1.Status	Loads AVX with a track, a list of assets, some simulation parameters, a sensor configuration, a Lighting System (optional), some deployment parameters and the ID of the ego vehicle (the vehicle instance to which the sensor configuration will be attached).
Initialize	WorldUpdate	.ansys.api.avxcelerate.sensors.v1.Status	Sets the desired initial position, orientation and state of all the components of the world. Changes the AVX state to RUNNING. Note: When called after the Stop command, the Initialize command resets the sensors and advanced lighting systems to their initial loaded states. For more information on this feature, refer to the Simulation section of the API description chapter in the API documentation.
Update	WorldUpdate	.ansys.api.avxcelerate.sensors.v1.Status	Applies a world model update to AVX.
Stop	.google.protobuf.Empty	.ansys.api.avxcelerate.sensors.v1.Status	Stops the simulation. Changes the AVX state from RUNNING to LOADED.
Unload	.google.protobuf.Empty	.ansys.api.avxcelerate.sensors.v1.Status	Unloads the simulation. Changes the AVX state back to STARTED. Note: This command allows the restart of a simulation without having to restart AVX.
Kill	.google.protobuf.Empty	.ansys.api.avxcelerate.sensors.v1.Status	Sends a signal to end all the AVX processes properly. Closes the gRPC server.

ansys/api/avxcelerate/sensors/v1/simulation/simulation_parameters.proto

This file describes the messages used to define the simulation parameters.

AutomaticBatching

Automatic batching configuration.

Note: With the automatic batching method, the number of batches on rays and on rx channels are computed by the system taking into account the specified two constraints. There are two possibilities for the second constraint according to your needs: To use the default GPU, set the gpu_memory_quota. To use any other GPU or several GPUs, set the gpu_quotas.

Field	Type	Label	Description
max_number_of_ray_batches	int32		First constraint: the upper bound on the automatically computed number of ray batches.
gpu_memory_quota	double		Second constraint, option 1: the max fraction (quota) of the total GPU memory that can be used. The default GPU (whose index is 0) will be used.
gpu_quotas	map AutomaticBatching-GpuQuotasEntry	repeated	Second constraint, option 2: the max fraction (quota) of the total memory of the specified GPU that can be used. Key [string]: The GPU name. Note: The GPU names must correspond to the GpuIdentifier names specified in the deploy parameters. Value [double]: The max fraction of the GPU memory that can be used.

AutomaticBatching-GpuQuotasEntry

Field	Type	Label	Description
key	string
value	double

CameraGroundTruthParameters

Types of ground truth output data generated by the physics-based camera.

Field	Type	Label	Description
generate_depth_map	bool		Activation of the depth map production. A depth map indicates for each pixel the distance of the associated point relative to the camera sensor's mounting position. Default value: false
generate_optical_flow	bool		Activation of the optical flow production. The optical flow indicates for each pixel the linear speed of the associated point relative to the camera sensor's mounting position. Default value: false
generate_pixel_segmentation	bool		Activation of the pixel segmentation production. The pixel segmentation gives a color to each pixel based on the object it belongs to. Default value: false
generate_2d_bounding_boxes	bool		Activation of the bounding boxes production. This parameter activates the generation of 2D and 3D bounding boxes. For more details on the bounding box data generated in shared memory, refer to the BoundingBox2D and BoundingBox3D messages. For more details on the file generated on disk, refer to AVxcelerate Sensors Simulator User's Guide. Default value: false

CartesianGrid

Cartesian grid definition.

Field	Type	Label	Description
horizontal_grid_points	int32		The number of horizontal squares in the grid.
vertical_grid_points	int32		The number of vertical squares in the grid.

DataAccessSettings

Configuration of the output data generation and storage methods.

Note: If no data access configuration is set, the default behavior is to activate output data production in shared memory.

Field	Type	Label	Description
recording_format	RecordingFormat	optional	Activation of output data saving to disk, and configuration of the type of data and file format. Refer to the RecordingFormat message for more information.
oneof memory_access shared_memory_access	google.protobuf.BoolValue		Activation of output data production in shared memory. The data stored in shared memory can be accessed via a notification-based mechanism.
oneof memory_access remote_direct_memory_access	RemoteDirectMemoryAccess		Activation and configuration of output data production for Remote Direct Memory Access using the pre-build RDMA sender. Note: This parameter only applies to camera output data. Note: Data access using Remote Direct Memory Access (RDMA) technology is delivered as a beta feature in the current release. Note: This option is deprecated and will be removed in future releases. It is recommended to use the DataDirectMemoryAccess option instead for improved functionality and support.
oneof memory_access data_direct_memory_access	DataDirectMemoryAccess		Activation and configuration of output data production using Data Direct Memory Access (DDMA). Data can be streamed directly from GPU or CPU memory using the DDMA extension. Note: Data access using Direct Memory Access (DDMA) is delivered as a beta feature in the current release. Note: DDMA is available for camera and radar sensors only. For radar output data, GPU or CPU pointers can be used to stream range doppler maps and raw responses. Only GPU pointers can be used to stream propagation output data. For camera output data, GPU or CPU pointers can be used to stream RGBA32 raw image data and Float128 raw spectral irradiance data. However, GPU RDMA supports only output data produced by camera sensors configured to use the Light Propagation Engine (LPE) rendering engine. Note: The DDMA extension must be properly configured. For more information, refer to the DDMA samples.

DataDirectMemoryAccess

Configuration of Data Direct Memory Access (DDMA).

Field	Type	Label	Description
target	DataDirectMemoryAccessTarget		Target memory domain for DDMA. Default value: GPU.

DisplayInformation

Settings for the Display of a camera sensor.

Field	Type	Label	Description
top_left_corner_position	TopLeftCornerPosition		Position of the top left corner of the rendering window.
display_only	bool		Activation of the Display Only mode. When the Display Only mode is activated (value set to true), the camera output is only displayed in the rendering window. No data is recorded (neither in the shared memory nor dumped on disk) and the recording_format parameter is ignored. When the Display Only mode is deactivated (value set to false, which is the default value), the camera output data are both generated in shared memory and displayed in the rendering window. Default value: false

Grid

Type of grid for the lidar sensor.

Field	Type	Label	Description
oneof grid cartesian_grid	CartesianGrid		The Cartesian grid. Note: Cartesian grid applies to flashing lidar only.
oneof grid polar_grid	PolarGrid		The polar grid. Note: Polar grid applies to rotating lidar only.

LidarSimulation

Simulation parameters for a Lidar.

Field	Type	Label	Description
waveform	bool		Activation of the waveform output production by the lidar. Default value: false
contribution	bool		Activation of the contribution output production by the lidar. Default value: false
grid	Grid		The lidar ray-tracing grid.
number_of_batches	google.protobuf.Int32Value		The number of batches. Default value: 1 Note: The number of batches must be less than or equal to the lidar resolution.
gpu_name	string		The GPU name that must be used for the simulation of this lidar sensor. Note: The GPU name must correspond to a GpuIdentifier name specified in the deploy parameters. Note: Optional field. If not set, the default GPU (whose index is 0) will be used.
use_rgb_diffuse	bool		Use RGB diffuse parameters in the simulation of this lidar sensor. Default value: false
enable_surface_smoothing	bool		Enable surface smoothing for time of flight calculation according to the surface curvature. Default value: false

LightPropagationEngineSimulationParameters

Simulation parameters for the Light Propagation Engine.

Note: The Light Propagation Engine is delivered as a beta feature in the current release.

Field	Type	Label	Description
camera_near_distance	double	optional	Distance at which the camera starts seeing objects. Unit: meters (m) Range: ]0.0, camera_culling_distance] or ]0.0, inf[ if camera_culling_distance == 0 Default value: 0.3
camera_culling_distance	double	optional	Distance at which the camera stops seeing objects. Unit : meters (m) Range: [camera_near_distance, inf[ or 0 Note: Setting the value to 0 means infinite. Default value: 1000
oneof ambient_occlusion screen_space_ambient_occlusion	ScreenSpaceAmbientOcclusion		Screen-Space Ambient Occlusion.
oneof ambient_occlusion raytraced_ambient_occlusion	RaytracedAmbientOcclusion		Raytraced Ambient Occlusion.
occlusion_culling	bool	optional	Activation of the Occlusion Culling. Default value: true
raytraced_shadows	bool	optional	Activation of the Raytraced Shadows. Default value: true
shadow_quality	Qualities		The camera shadow quality. Default value: MEDIUM
antialiasing_factor	double	optional	The camera antialiasing factor. Range: [1.0, 4.0] Default value: 1.0
camera_ground_truth_parameters	CameraGroundTruthParameters		Activation of ground truth output production. Ground truth output data can be used to test or train a perception algorithms. Note: Optional field. If not set, no ground truth output is generated.
raytraced_scene_renderer	bool	optional	Activation of raytraced scene renderer. Note: Raytraced scene renderer is delivered as an experimental feature in the current release.
raytraced_reflections	bool	optional	Activation of the Raytraced Reflections. Default value: false

LightingSystemParameters

Lighting system simulation parameters.

Field	Type	Label	Description
sampling_rate	double	optional	Angular sampling used when computing the rendering of the light sources in the Lighting System. Unit: degrees Range: [0.05, 57] Default value: 0.05

ManualBatching

Manual batching configuration.

Note: With the manual batching method, the number of batches for rx channels must be specified.

Field	Type	Label	Description
rx_batching	RxBatching	repeated	The batching on rx channels.
gpu_by_modes	map ManualBatching-GpuByModesEntry	repeated	Definition of the GPU to use for the simulation of each mode of this radar sensor. Key [int32]: The mode id. Value [string]: The GPU name. Note: The GPU names must correspond to the GpuIdentifier names specified in the deploy parameters.

ManualBatching-GpuByModesEntry

Field	Type	Label	Description
key	int32
value	string

OutputSplitting

Output data splitting configuration.

Field	Type	Label	Description
radar_output_splitting	RadarOutputSplitting		The radar output splitting configuration.

PbCameraSimulation

Simulation parameters for a physics-based camera.

Field	Type	Label	Description
rendering_parameters	RenderingParameters		The rendering engine parameters.
gpu_name	string		The GPU name that must be used for the simulation of this camera sensor. Note: The GPU name must correspond to an existing name set in the GpuIdentifier in a deploy or local host in the deploy configuration. Note: Optional field. If not set, the default GPU (whose index is 0) will be used.

PolarGrid

Polar grid definition.

Field	Type	Label	Description
radial_grid_points	int32		The number of radial segments.
angular_grid_points	int32		The number of angular segments.
has_central_point	bool		Field indicating whether or not an on-axis ray (point of emission) must be added to the center of the grid. Default value: false

RadarDebugViewParameters

Parameters for the radar's debug view images.

Field	Type	Label	Description
color_mode	ColorMode		The color mode of the debug view images.
image_width	google.protobuf.Int32Value		The width of the debug view images. Range: ]0, int32 max] Default value: 1024 Note: The debug view image is square (width = height).
background_gray_level	google.protobuf.Int32Value		The gray level of the debug view image's background. Range: [0, 255] Default value: 128
enable_material_shading	google.protobuf.BoolValue		Activation of the shading on materials in the output images of the debug view with the COATING color mode. Shading materials eases image interpretation by humans. Note: This parameter only applies to debug view images with the COATING color mode. Its value will not be considered if any other color mode is used. Default value: false
oversample	google.protobuf.DoubleValue		The rasterization density when rasterizing the triangles to fill image pixels. Range: ]0, double max] Default value: 1.0 Note: It is recommended to start with 1.0 and increase as needed to achieve the desired image quality.

RadarGridSampling

Radar grid sampling specifies the global sampling and the adaptive sampling to be applied to the scene.

Field	Type	Label	Description
global_sampling	RadarGridSamplingParameters		Global sampling defining the default sampling to be applied to the scene.
adaptive_sampling	map RadarGridSampling-AdaptiveSamplingEntry	repeated	The tag-sampling mapping table for adaptive sampling which assigns ray spacing values to tagged objects. Note: If a tag is not associated with any object in the scene, the simulation will stop with an error. Key [string]: The name of the tag. Note: For pre-defined tags, use the CamelCase form of the tag name in AVxcelerate Asset Preparation Editor. For example, "RoadSign" for Road Sign, "StreetLight" for Street Light, "SteeringWheel" for Steering Wheel. Be aware of the following two exceptions: "SimulationObject" should be used instead of Object, "Indicator" should be used instead of Turn Indicator. For custom tags, the expected text string is the name of the tag as it is written in AVxcelerate Asset Preparation Editor. Value [RadarGridSamplingParameters]: Refer to this message for details. Note: For tags belonging to the same hierarchy of objects, the ray spacing value assigned to a child-node tag must be less than or equal to that of the parent-node tag. If the ray spacing value of the child-node tag is greater than that of the parent-node tag, it will be be lowered to match the ray spacing value of the parent-node tag.

RadarGridSampling-AdaptiveSamplingEntry

Field	Type	Label	Description
key	string
value	RadarGridSamplingParameters

RadarGridSamplingParameters

Radar grid sampling parameters, which consist of the ray spacing parameter.

Field	Type	Label	Description
ray_spacing	double		For global sampling, the ray spacing is expressed as the distance between adjacent rays measured at 100m from the source. For adaptive sampling, the ray spacing is expressed as the distance between adjacent rays regardless of the distance of the object from the source (the number of rays hitting the object will be kept constant all across the simulation). Unit: meter (m) Range: ]0, double max]

RadarOutputSplitting

Radar output data splitting configuration.

Field	Type	Label	Description
radar_output_splitting_level	RadarOutputSplittingLevel		The radar output splitting level.

RadarSimulation

Simulation parameters for a radar and, optionally, the type of execution batching method.

Field	Type	Label	Description
number_of_ray_reflections	int32		The maximum number of ray bounces (reflections) on the scene's objects before the ray is forced to return to the sensor. Note: The limit applies to each individual ray.
number_of_ray_transmissions	int32		The maximum number of transmissions on the scene's objects before the ray is forced to return to the sensor. Note: The limit applies to each individual ray.
grid_sampling	RadarGridSampling		The sampling of the grid.
oneof batching manual_batching	ManualBatching		Configuration of the manual batching. Note: Optional field. By default, the sensor execution is not batched.
oneof batching automatic_batching	AutomaticBatching		Configuration of the automatic batching. Note: Optional field. By default, the sensor execution is not batched.
tx_waveform_report	bool		Activation of the tx waveform output generation by the radar. Default value: false
ego_vehicle_emission_blockage	bool		Field indicating whether or not the Ego vehicle geometry will be considered in calculations upon the emission of the ray's first bounce. When this parameter is set to true, the ego vehicle geometry is considered in calculations upon the emission of the ray's first bounce. When this parameter is set to false (which is the default value), the ego vehicle geometry is not considered in calculations upon the emission of the ray's first bounce. Default value: false
debug_view_parameters	RadarDebugViewParameters		Parameters for the generation of debug view images. Optional field. If not set, the debug view images are not generated.
max_ray_path_length_by_mode	map RadarSimulation-MaxRayPathLengthByModeEntry	repeated	The maximal length for the ray path per radar mode. Key [int32]: The mode id. Value [double]: The maximal length for the ray path. Unit: meters (m) Range: ]0, 2 * max_path_length[ Default value: 200 Note: Features with total path length greater than twice the max ray path length, including the path back to the radar, will be excluded. Note: This parameter only applies to radars with arbitrary waveform.
max_velocity_by_mode	map RadarSimulation-MaxVelocityByModeEntry	repeated	The maximal velocity for each radar mode. Key [int32]: The mode id. Value [double]: The maximal velocity. Unit: meters per second (m/s) Range: ]0, double max[ Default value: 75 Note: Features with (absolute value of) relative velocity greater than the maximal velocity will be excluded. Note: This parameter only applies to radars with arbitrary waveform.
use_curvature	bool		Field indicating whether or not to consider the curvature of a surface for bouncing rays. Default value: false Note: Curvatures are always considered for the signal construction. Note: Curvature consideration is delivered as a beta feature in the current release.

RadarSimulation-MaxRayPathLengthByModeEntry

Field	Type	Label	Description
key	int32
value	double

RadarSimulation-MaxVelocityByModeEntry

Field	Type	Label	Description
key	int32
value	double

RaytracedAmbientOcclusion

Parameters for raytraced ambient occlusion.

Field	Type	Label	Description
activation	bool		Activation of the raytraced ambient occlusion feature. Default value: false
sampling_angle	float	optional	The angle of the cone sampling distribution: - 0 for sampling along the normal only. - Pi/2 to sample the whole hemisphere. Unit: radian Range: [0, Pi/2] Default: 1.0
occlusion_detection_radius	float	optional	The maximum distance up to which ray-intersections are computed. All occlusion events beyond this distance are ignored. Unit: meter (m) Range: ]0.01, 1000] Default: 5
sample_number	int32	optional	The number of samples used to compute the occlusion map. Note: Setting the Sample_Number greater than 128 and the Downscale Factor to FULL has a huge impact on performances. Range: [1, 512] Default: 8
power_factor	float	optional	Exponent applied to the ambient occlusion map. Note: The raytraced ambient occlusion feature is no more physically correct when the Power Factor value is set to anything but 1. Range: Strictly positive Default: 1
use_denoiser	bool	optional	Activation of denoising on the raytraced ambient occlusion output. Default: true
resolution_scale	RtaoDownscaleFactor	optional	Scale for the resolution at which the ambient occlusion is computed.

RecordingFormat

Format for recording the sensor's outputs.

Field	Type	Label	Description
oneof sensor_data_format camera_recording_format	ansys.api.avxcelerate.sensors.v1.CameraDataFormat		Format for saving camera output on disk. Possible value for physics-based camera: RAW, BMP, GIF, JPEG, PNG or SPECTRAL_IRRADIANCE_MAP. Possible value for thermal camera: TEMPERATURE_MAP.
oneof sensor_data_format radar_recording_format	ansys.api.avxcelerate.sensors.v1.OutputFormat		Format for recording radar output.
oneof sensor_data_format lidar_recording_format	ansys.api.avxcelerate.sensors.v1.OutputFormat		Format for recording lidar output.

RemoteDirectMemoryAccess

Configuration of Remote Direct Memory Access using the pre-built RDMA sender.

Note: Data access using Remote Direct Memory Access (RDMA) technology is delivered as a beta feature in the current release.

Note: If your RDMA sender uses the DDMA extension, you must use the DataDirectMemoryAccess parameter, not RemoteDirectMemoryAccess.

Field	Type	Label	Description
transfer_chunk_size	int32		Size of the RDMA data chunk in bytes.
sender_address	string		Sender's IPv4 address.
sender_port	google.protobuf.Int32Value		Sender's TCP port.
sender_backchannel_port	google.protobuf.Int32Value		Sender's back-channel port.
post_embedded_data_line_count	google.protobuf.Int32Value		Number of expected post-embedded data lines.
post_embedded_data_line_payload_size	google.protobuf.Int32Value		Total size in bytes of the post-embedded data lines.
pre_embedded_data_line_count	google.protobuf.Int32Value		Number of expected pre-embedded data lines.
pre_embedded_data_line_payload_size	google.protobuf.Int32Value		Total size in bytes of the pre-embedded data lines.

RenderingParameters

Rendering engine parameters for the camera sensor.

Field	Type	Label	Description
borderless	google.protobuf.BoolValue		Field indicating whether or not the rendering window is borderless. Default value: false
vertical_sync	google.protobuf.BoolValue		Activation of the vertical synchronization between the rendering frequency of the Display and the frame rate of the screen where the rendering window is located. Default value: false
enable_alpha_channel	google.protobuf.BoolValue		Activation of the alpha channel in the camera output. Default value: true Note: The values for the alpha channel are not used and are filled with default values.
enable_asynchronous_readback	bool		Activation of the asynchronous GPU readback. Default value: false Note: Asynchronous GPU readback is delivered as a beta feature in the current release.
oneof specific_parameters real_time_parameters	RenderingParameters.RealTimeParameters		Camera simulation parameters for real time rendering.
oneof specific_parameters lpe_parameters	LightPropagationEngineSimulationParameters		Camera simulation parameters for the Light Propagation Engine. Note: The Light Propagation Engine is delivered as a beta feature in the current release.

RenderingParameters-RealTimeParameters

Camera simulation parameters for real time rendering.

Field	Type	Label	Description
camera_near_plane	google.protobuf.FloatValue		The camera near plane value. Unit: meters (m) Range: ]0, camera_far_plane[ Default value: 0.1
camera_far_plane	google.protobuf.FloatValue		The camera far plane. Unit: meters (m) Range: ]CameraNearPlane, float max] Default value: 10000.0
shadow_quality	Qualities		The camera shadow quality. Default value: EXTREME
texture_quality	Qualities		The camera texture quality. Default value: EXTREME
antialiasing_factor	google.protobuf.FloatValue		The camera antialiasing factor. Range: [1.0, 4.0] Default value: 1.0
camera_ground_truth_parameters	CameraGroundTruthParameters		Activation of ground truth output production. Ground truth output data can be used to test or train a perception algorithms. Note: Optional field. If not set, no ground truth output is generated.

RxBatching

Settings for the batching on rx channels.

Note: The number of batches is set, and therefore applies, independently for each radar mode.

Field	Type	Label	Description
mode_id	int32		The id of the mode to which rx batching is applied.
number_of_rx_batches	int32		The number of batches on rx channels.

ScreenSpaceAmbientOcclusion

Parameters for Screen-Space Ambient Occlusion.

Field	Type	Label	Description
activation	bool		Activation of the screen space ambient occlusion feature. Default value: false
amount	double	optional	Linear gain factor of neighbouring occluders. Range: [ 1.0, 8.0 ] Default value: 1.0
radius	double	optional	Maximal radius to detect occluders. Unit: meters (m) Range: [0.01, 2.0] Default: 0.8
power_exponent	double	optional	Amplification factor of the occlusion ambient lighting. Range: [0.0, 8.0] Default: 2
surface_bias	double	optional	Distance bias to avoid self shadowing. Unit: meters (m) Range: [0.0, 1.0] Default value: 0.01

SensorParameters

Contains the simulation parameters for a given sensor defined by its identifier.

Note: If the type of sensor is not consistent with the sensor configuration, it will cause an error.

Field	Type	Label	Description
identifier	string		The unique identifier of the sensor as defined in the sensor configuration.
display	DisplayInformation		Field indicating whether or not the camera sensor's outputs are displayed on screen in a dedicated rendering window. The resolution of the rendering window is the Native Resolution defined in the Imager parameters of the camera sensor model. Note: Optional field. If not set, the camera outputs are not displayed on the screen. Note: This parameter applies to physics-based camera sensors only. If it is set for any other type of sensors, it is ignored. Note: Lens output without custom post-processing, as well as any output with custom post-processing whose encoding format is different than Gray8 or RGB24 are not supported for display. For those unsupported formats, a black image is displayed in the rendering window and a warning is raised in the logs. Note: If the fragment shared used for custom post-processing is configured to produce multiple outputs, the Display takes into account only the first output defined in the fragment shader.
oneof sensor_parameter radar_simulation	RadarSimulation		Specific parameters for a radar sensor.
oneof sensor_parameter lidar_simulation	LidarSimulation		Specific parameters for a lidar sensor.
oneof sensor_parameter pb_cam_simulation	PbCameraSimulation		Specific parameters for a physics-based camera sensor.
oneof sensor_parameter thermal_cam_simulation	ThermalCameraSimulation		Specific parameters for a thermal camera sensor.
output_splitting	OutputSplitting		Sensor's output data splitting configuration. Note: This parameter only applies to radar sensor data. Note: Optional field. If not set, the output data is not split.
serialize_data	google.protobuf.BoolValue		Activation of serialization of the output data in shared memory. When this parameter is set to true, the data is serialized. When this parameter is set to false, the data is unserialized. Note: Only Camera Output (Image) and Imager Output (Injection) data of physics-based camera sensors can be unserialized. Camera Lens Output (Light), thermal camera, lidar and radar output data are always serialized. Default value: true
deploy_node_id	string		The identifier of the deploy node on which the sensor is spawned, as defined in the deploy configuration. Note: Optional field. If not set, the sensor process is executed on the local host.
data_access_settings	DataAccessSettings		Configuration of the output data generation and storage methods.
start_offset	double		Delay between the start of the simulation and the sensor's frame cycle. Unit: millisecond (ms) Range: Positive

SimulationParameters

Contains the general simulation parameters and simulation parameters per sensor.

These parameters define the accuracy of the simulation, the types of output each sensor generates, as well as the output data generation and storage methods.

Note: Simulation parameters may have an impact on the performance.

Field	Type	Label	Description
sensor_simulation_parameters	SensorParameters	repeated	List of simulation parameters per sensor.
lighting_system_parameters	LightingSystemParameters		Lighting system parameters. Note: The Lighting System parameters apply to all the Lighting Systems associated to the the ego vehicle.
pixel_segmentation_mapping	ansys.api.avxcelerate.sensors.v1.PixelSegmentationMapping		Configuration of the tag-color mapping used for the pixel segmentation camera ground truth data.

ThermalCameraSimulation

Simulation parameters for a thermal camera.

Field	Type	Label	Description
rendering_parameters	RenderingParameters		The rendering engine parameters.
gpu_name	string		The GPU name that must be used for the simulation of this thermal camera sensor. Note: The GPU name must correspond to a GpuIdentifier name specified in the deploy parameters. Note: Optional field. If not set, the default GPU (whose index is 0) will be used.

TopLeftCornerPosition

Position of the top left corner of the rendering window relative to the top left corner of the monitor.

Field	Type	Label	Description
x	int32		The horizontal offset (in pixels) of the rendering window from the top left corner of the monitor. Default value: 1
y	int32		The vertical offset (in pixels) of the rendering window from the top left corner of the monitor. Default value: 1

ColorMode

The available color modes for the radar's debug view output.

Name	Number	Description
BLACKWHITE	0	Color in shades of gray by the angle of incidence between the surface and viewing direction. (Default value.)
COATING	1	Color by the dielectric properties of the materials. Note: Color assignment is determined by the material indices of each radar simulation instance and is not deterministic. Optionally shaded (when enable_material_shading is set to true in RadarDebugViewParameters).
VELOCITY	2	Color by the relative velocities. The R, G and B values correspond respectively to the velocities in the X, Y and Z direction.
NORMAL	3	Color by the normal of the surfaces converted to RGB.

DataDirectMemoryAccessTarget

Target memory domain for Data Direct Memory Access.

Default value: GPU.

Name	Number	Description
GPU	0	Stream data from GPU accessible memory (default).
CPU	1	Stream data from CPU addressable memory.

Qualities

The possible values for quality factors.

Name	Number	Description
UNDEFINED	0	Undefined value. (The default value will apply.)
LOW	1	Low quality.
MEDIUM	2	Medium quality. (Default value for fields in the LightPropagationEngineSimulationParameters message.)
HIGH	3	High quality.
EXTREME	4	Extreme quality. (Default value for fields in the RealTimeParameters message.)

RadarOutputSplittingLevel

The available radar output splitting levels.

Name	Number	Description
DEFAULT	0	Default value. Output data is not split.
MODE	1	Split by radar mode.
TRANSMITTER	2	Split by transmitter.

RtaoDownscaleFactor

Scale values for the resolution at which the raytraced ambient occlusion is computed.

Name	Number	Description
FULL	0	Default value. No downscale. The LPE rendering resolution is used.
HALF	1	Downscale the resolution by a factor of 2.
QUARTER	2	Downscale the resolution by a factor of 4.

ansys/api/avxcelerate/sensors/v1/simulation/upload.proto

This file describes the service used to upload resources to the AVX server by leveraging gRPC streaming capabilities.

ResourceUploader

Resource Uploader Service

This service provides the procedure to upload resources as byte stream using gRPC streaming capabilities.

Method Name	Request Type	Response Type	Description
UploadResource	UploadRequest stream	.ansys.api.avxcelerate.sensors.v1.Status	Requests resource uploading.

ansys/api/avxcelerate/sensors/v1/simulation/upload_data.proto

This file describes the messages used by the Resource Uploader service.

UploadMetaData

Provides information on the resource to upload.

Note: Metadata must be sent in the first UploadRequest. Metadata sent later are ignored.

Field	Type	Label	Description
values	map UploadMetaData-ValuesEntry	repeated	Map containing metadata values. Key [string]: Type of the metadata. Must be "ResourceIdentifier" for Tracks, Assets, and Lighting Systems or "ResourceType" for sensor configuration. Value [string]: Value associated with the metadata type. Note: This field must contain at least one "ResourceIdentifier" key (without associated value), or one "ResourceType" key with the associated value "SensorConfiguration".

UploadMetaData-ValuesEntry

Field	Type	Label	Description
key	string
value	string

UploadRequest

Upload request message.

Field	Type	Label	Description
upload_metadata	UploadMetaData		The metadata used to identify the resource to upload.
data	bytes		The data to upload.

ansys/api/avxcelerate/sensors/v1/simulation/world_update.proto

This file describes the message used to send a world update to be applied at a given simulation step.

EnvironmentUpdate

Update to apply to the environment.

Field	Type	Label	Description
oneof value date_time	google.protobuf.Timestamp		Time of day (as sent by the simulation framework) to apply to the AVX sky model.
oneof value street_lights_state	State		State to apply to all the nodes of the track that hold the "StreetLight" tag. Note: "ON" and "OFF" are the only accepted values.
oneof value weather	Weather		Weather conditions.

Fog

Parameters defining the fog.

Note: Fog is correct in daytime simulations only.

Note: In co-simulations with CarMaker, only the maximum visibility distance parameter can be updated during the simulation.

Field	Type	Label	Description
fog_activation	bool	optional	Activation of the fog in the simulation. Default value: false
maximum_visibility_distance	double	optional	The maximum visibility is defined with respect to the Annex 3 to the Convention on International Civil Aviation, i.e. a residual 5% of contrast will be obtained at the given maximum visibility distance. Unit: meters (m) Range: Strictly positive Default value: 100
oneof fog_color color	ansys.api.avxcelerate.sensors.v1.Color		Color of the fog, defined in the RGB format. Default value: [255, 255, 255]
oneof fog_color spectrum	ansys.api.avxcelerate.sensors.v1.Spectrum		Spectrum of the fog. Note: The fog spectrum should be limited to the camera spectral bandwidth [390,652 nm], otherwise the irradiance value from the camera may have a small bias.

KinematicProperties

Properties that define the motion of a solid.

Field	Type	Label	Description
position	ansys.api.avxcelerate.sensors.v1.Vector3D		Position of the object in the world reference frame. Unit: meters (m)
velocity	ansys.api.avxcelerate.sensors.v1.Vector3D		Velocity of the object relative to the world reference frame. Unit: meters per second (m/s)
orientation	ansys.api.avxcelerate.sensors.v1.EulerAngles		Orientation of the object relative to the world reference frame. Note: When applying the Euler angles update, it is done in the standard order yaw, pitch, roll. Unit: radians (rad)
angular_velocity	ansys.api.avxcelerate.sensors.v1.Vector3D		The new angular velocity vector of the object expressed in the world reference frame. Note: The value on the Y axis corresponds to the yaw rotation. The value on the X axis corresponds to the pitch rotation. The value on the Z axis corresponds to the roll rotation. Unit: radians per second (rad/s)

ObjectKey

Key to identify the object, or some of its nodes, to which the update applies.

Field	Type	Label	Description
vss_identity	ansys.api.avxcelerate.sensors.v1.ObjectIdentifier		The unique identifier of an object in the simulation. Note: The identifier is case-sensitive and must correspond to one defined in the loaded configuration. Each object has a unique vss_identity.
tag	Tag		Tag attached to the object, or to some of its nodes, during the asset preparation with AVxcelerate Asset Preparation.

ObjectUpdate

Update to apply to an object.

Field	Type	Label	Description
key	ObjectKey		Key defining the object to which the update applies.
kinematic_properties	KinematicProperties		Kinematic properties update to apply to the object. Note: All the properties are absolute (i.e.the updates are applied with respect to the root node of the track).
state	State		State to apply to the object. The available states are defined and attached to the object during the data preparation of the asset with AVxcelerate Data Preparation.

Rain

Parameters defining the rain.

Field	Type	Label	Description
rain_rate	float	optional	Amount of rain pouring onto the ground. Unit: millimeters per hour (mm/h) Range: [0;75] Default value: 0 Note: The range has been limited to [0;75] mm/h for memory and performance reasons.

State

State defined on an object node.

Field	Type	Label	Description
identifier	string		Unique identifier of the state defined during the asset preparation with AVxcelerate Asset Preparation.

Tag

Definition of the tag, including its name and, in some cases, an index.

To update the whole object, set the name of the asset tag (for example "Animal", "Pedestrian", "Vehicle", "RoadSign", "StreetLight", or "SimulationObject") and no index.

To update the node(s) of a object that have a specific tag, set the name of the node tag (for example "Wheel" or "HighBeam"). Set no index to update all the nodes holding the tag, set an index to update one specific node.

Note: For a complete description of the naming conventions and standards that you should follow when tagging assets in AVxcelerate, refer to the Data Preparation section of the AVxcelerate Sensors Simulator User's Guide.

Field	Type	Label	Description
name	string		The name of the tag.
index	google.protobuf.Int32Value		The index. Note: The index field is required with the "Wheel" and "TurnIndicator" tag when you need to identify one specific node of the object among several nodes holding the same tag. The index for each wheel, when the vehicle has been prepared as stated in the user documentation, is 0 for the front left wheel, 1 for the front right wheel, 2 for the rear left wheel and 3 for the rear right wheel. The index is 0 for the left turn indicator and 1 for the right turn indicator.

Weather

Definition of the weather conditions.

Note: The weather conditions impact only camera sensors with the LPE rendering engine.

Note: Defining weather conditions delivered as a beta feature in the current release.

Field	Type	Label	Description
fog	Fog		State of the fog to apply to the simulation
rain	Rain		State of the rain to apply to the simulation.
wind	Wind		State of the wind to apply to the simulation.

Wind

Parameters defining the wind.

Field	Type	Label	Description
speed	float	optional	The wind speed. Unit: meters per second (m/s) Range: Positive or null
direction	float	optional	The wind direction, defined as the angle measured clockwise from true North to the direction the wind is coming from. Unit: degrees

WorldUpdate

Contains a world update to apply to AVX at a given simulation time.

Field	Type	Label	Description
simulation_time	google.protobuf.Duration		Simulation time corresponding to this world update. The value is represented as a count of seconds and fractions of seconds at nanosecond resolution.
environment_updates	EnvironmentUpdate	repeated	List of changes to the environment.
object_updates	ObjectUpdate	repeated	List of changes to simulation objects.

ansys/api/avxcelerate/sensors/v1/status.proto

This file describes the AVX status and status code messages.

Status

The status message returned by AVX for any procedure call.

Field	Type	Label	Description
code	StatusCode		The status of the procedure call.
message	string		A status message as a text string.

StatusCode

The possible status code values.

Name	Number	Description
SUCCESS	0	The code returned when successful.
UNKNOWN_FAILURE	1	The code returned when there is an error on AVX side.

ansys/api/avxcelerate/sensors/v1/tag_colors.proto

This file describes the PixelSegmentationMapping message.

PixelSegmentationMapping

Defines the mapping table of tags and colors.

Field	Type	Label	Description
tag_color_map	map PixelSegmentationMapping-TagColorMapEntry	repeated	The tag-color mapping table. Key [string]: The name of the tag. Note: For pre-defined tags, use the CamelCase form of the tag name in AVxcelerate Asset Preparation Editor. For example, "RoadSign" for Road Sign, "StreetLight" for Street Light, "SteeringWheel" for Steering Wheel. Be aware of the following two exceptions: "SimulationObject" should be used instead of Object, "Indicator" should be used instead of Turn Indicator. For custom tags, the expected text string is the name of the tag as it is written in AVxcelerate Asset Preparation Editor. Value [Color]: The RGB color.

PixelSegmentationMapping-TagColorMapEntry

Field	Type	Label	Description
key	string
value	Color