Source code for gs_nyx_plugin.nyx_camera_options

"""
Nyx Camera Options for Genesis - GPU-accelerated rendering via Nyx renderer.
"""

# External imports
from pydantic import ConfigDict, Field
from typing import TYPE_CHECKING, Literal, Annotated

# Internal imports
import genesis as gs
from genesis.options.sensors.camera import BaseCameraOptions
from genesis.typing import PositiveInt, PositiveFloat, PositiveVec2IType
from gs_nyx import nyx_py_sdk as nps
from gs_nyx import nyx_py_renderer as npr

if TYPE_CHECKING:
    pass


__all__ = ["NyxCameraOptions"]


# Register init and destroy functions for the Nyx sdk plugin.
gs.register_external_module(nps.startup, nps.shutdown)


# ========================== Nyx Camera Options ==========================


class NyxCameraOptions(BaseCameraOptions["NyxCameraSensor"]):
    """
    Options for the Nyx Camera Sensor plugin.

    Inherits from BaseCameraOptions which provides:
    - res, pos, lookat, up, fov, lights, offset_T (from BaseCameraOptions)
    - entity_idx, link_idx_local, pos_offset, euler_offset (from RigidSensorOptionsMixin)

    Nyx-specific parameters are defined below.

    Parameters
    ----------
    model : Literal
        Camera model: "pinhole". Default is "pinhole".
    spp : PositiveInt
        Samples per pixel for path tracing. Default is 16.
    denoise : bool
        Whether to apply denoising. Default is True.
    near : PositiveFloat
        Near clipping plane distance. Default is 0.1.
    far : PositiveFloat
        Far clipping plane distance. Default is 100.0.
    render_mode : ~gs_nyx.nyx_py_renderer.ERenderMode
        Rendering mode for Nyx. Default is
        :attr:`~gs_nyx.nyx_py_renderer.ERenderMode.FastPathTracer`.
    debug_view : ~gs_nyx.nyx_py_renderer.EDebugView
        Debug view mode for Nyx. Default is
        :attr:`~gs_nyx.nyx_py_renderer.EDebugView.Meshlet`.
    tone_mapper : ~gs_nyx.nyx_py_sdk.EToneMapper
        Tone mapper to apply post-render. Default is
        :attr:`~gs_nyx.nyx_py_sdk.EToneMapper.Reinhard`.
    anti_aliasing : ~gs_nyx.nyx_py_sdk.EAntiAliasing
        Anti-aliasing technique. Default is
        :attr:`~gs_nyx.nyx_py_sdk.EAntiAliasing.SMAA`.
    open_window : bool
        Whether to open a GUI window. Default is False.
    window_size : PositiveVec2IType
        Window size if open_window is enabled. Default is (1024, 1024).
    """

    model_config = ConfigDict(arbitrary_types_allowed=True)

    # Nyx-specific rendering parameters
    model: Literal["pinhole"] = "pinhole"
    spp: PositiveInt = 16
    denoise: bool = True
    near: PositiveFloat = 0.1
    far: PositiveFloat = 100.0
    render_mode: npr.ERenderMode = npr.ERenderMode.FastPathTracer
    debug_view: npr.EDebugView = npr.EDebugView.Meshlet
    tone_mapper: nps.EToneMapper = nps.EToneMapper.Reinhard
    anti_aliasing: nps.EAntiAliasing = nps.EAntiAliasing.SMAA

    # Window/export settings
    open_window: bool = False
    window_size: PositiveVec2IType = (1920, 1080)

    # Sensor manager integration
    update_ground_truth_only: bool = True

    # Nyx additional params
    env_maps: Annotated[tuple[nps.EnvironmentMapAsset, ...], Field(strict=False)] = ()
    light_fields: Annotated[tuple[nps.LightFieldAsset, ...], Field(strict=False)] = ()

    # Post-init validation.


    def model_post_init(self, _):
        super().model_post_init(_)

        # We require far to be greater than near for valid depth range.
        if self.far <= self.near:
            gs.raise_exception("far must be greater than near")