Struct Scenario 

pub struct Scenario {
    pub seed: u64,
    pub fps: f64,
    pub arena: Arena,
    pub cameras: CameraRig,
    pub insects: Vec<InsectSpec>,
    pub blob: BlobParams,
    pub bg_warmup_frames: u32,
    pub timing: TimingModel,
    pub observation: ObservationModel,
    pub reported_fps: Option<f64>,
    pub calibration_perturbation: CalibrationPerturbation,
}

A complete simulated scenario, deserialized from sim.toml.

Fields

seed: u64

RNG seed driving all deterministic stochastic behavior (detection noise, dropout, clutter, occlusion, timing jitter, calibration perturbation).

fps: f64

Synchronized frame rate, frames per second.

arena: Arena

Tracking volume.

cameras: CameraRig

Camera arrangement.

insects: Vec<InsectSpec>

The insects to simulate.

blob: BlobParams

Blob rendering parameters.

bg_warmup_frames: u32

Number of insect-free frames to render first so the background model settles before insects appear.

timing: TimingModel

Per-camera frame-arrival timing perturbation (default: none).

observation: ObservationModel

Observation-model imperfections: detection noise, dropout, clutter (default: none).

reported_fps: Option<f64>

If set, the cameras’ host timestamps advance at this rate (frames per second) instead of true wall-clock time, modeling a host clock that is bunched relative to the true frame cadence — as happens under load when the camera driver delivers buffered frames in bursts.

The sim still emits a hardware (device) timestamp at the true cadence, so this exercises the frame-rate-estimation fix: a fps estimator that uses the host clock is fooled (reads reported_fps, corrupting the tracker’s dt = 1/fps and fragmenting trajectories), while one that uses the hardware timestamp is correct. None reports true wall-clock host timestamps.

calibration_perturbation: CalibrationPerturbation

Perturbation applied to the tracking calibration relative to the perfect generation calibration (default: none — perfect == tracking). See CalibrationPerturbation.

Implementations

impl Scenario

pub fn from_toml_str(s: &str) -> Result<Self>

Parse a scenario from a sim.toml string.

pub fn camera_name(k: usize) -> String

The camera name for camera index k. Used as the calibration camera name, the Braid [[cameras]] name, and the --camera-name passed to the simulated strand-cam. Kept purely alphanumeric to avoid ROS-name encoding mismatches.

pub fn camera_index(name: &str) -> Option<usize>

Parse the camera index k from a simcam{k} name.

Trait Implementations

impl Clone for Scenario

fn clone(&self) -> Scenario

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Scenario

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Scenario

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for Scenario

fn eq(&self, other: &Scenario) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for Scenario

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for Scenario