相机传感器#

相机传感器每一步渲染一张场景的 RGB 图像，并通过传感器的 read() 接口返回，因此相机的读写方式与其他传感器完全一致：挂载、推进、读取。

用 scene.add_sensor(gs.sensors.*CameraOptions(...)) 创建一个相机传感器，其 read() 返回一个 CameraReturnType，只带一个 rgb 字段。Genesis World 还有另一个名称相近的相机：可视化相机，通过 scene.add_camera(...) 创建，其 render() 返回 RGB 以及深度、分割和表面法线。需要这些额外通道或需要交互式查看器时，请使用后者；参见 相机。

每个后端都由独立的选项类和传感器类组成，但都返回相同的 CameraReturnType(rgb)。用法以及如何选择后端，请参阅 相机传感指南。

返回类型#

class genesis.engine.sensors.camera.CameraReturnType(rgb: Tensor)[source]#

Camera sensor return data.

光栅化器相机#

class genesis.options.sensors.camera.RasterizerCameraOptions(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, link_idx_local: int = 0, pos_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), euler_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), res: tuple[int, int] = (512, 512), pos: tuple[float, float, float] = (3.5, 0.0, 1.5), lookat: tuple[float, float, float] = (0.0, 0.0, 0.0), up: tuple[float, float, float] = (0.0, 0.0, 1.0), fov: float = 60.0, lights: list[dict[str, Any]] = [], offset_T: tuple[tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float]] | None = None, near: float = 0.01, far: float = 100.0) → None[source]#

Options for Rasterizer camera sensor (OpenGL-based rendering).

Parameters:

  • near (float) – Near clipping plane distance. Default is 0.01.

  • far (float) – Far clipping plane distance. Default is 100.0.

class genesis.engine.sensors.camera.RasterizerCameraSensor(options: RasterizerCameraOptions, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: BaseCameraSensor, Sensor[RasterizerCameraOptions, None, RasterizerCameraSharedMetadata, CameraReturnType]

Rasterizer camera sensor using OpenGL-based rendering.

This sensor renders RGB images using the existing Rasterizer backend, but operates independently from the scene visualizer.

build()[source]#

Initialize the rasterizer and register this camera.

classmethod reset(shared_metadata: SharedSensorMetadata, shared_ground_truth_cache: Tensor, envs_idx)[source]#

Reset the sensor.

This method is called by SensorManager when the scene is reset by scene.reset().

Parameters:

  • shared_metadata (SharedSensorMetadata) – The shared metadata for the sensor class.

  • shared_ground_truth_cache (torch.Tensor) – The shared ground truth cache for the sensor class.

  • envs_idx (array_like) – The indices of the environments to reset. The envs_idx should already be sanitized by SensorManager.

光线追踪器相机#

class genesis.options.sensors.camera.RaytracerCameraOptions(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, link_idx_local: int = 0, pos_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), euler_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), res: tuple[int, int] = (512, 512), pos: tuple[float, float, float] = (3.5, 0.0, 1.5), lookat: tuple[float, float, float] = (0.0, 0.0, 0.0), up: tuple[float, float, float] = (0.0, 0.0, 1.0), fov: float = 60.0, lights: list[dict[str, Any]] = [], offset_T: tuple[tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float]] | None = None, model: Literal['pinhole', 'thinlens'] = 'pinhole', spp: int = 256, denoise: bool = False, aperture: float = 2.8, focal_len: float = 0.05, focus_dist: float = 3.0, env_surface: Any = None, env_radius: float = 15.0, env_pos: tuple[float, float, float] = (0.0, 0.0, 0.0), env_quat: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0)) → None[source]#

Options for Raytracer camera sensor (LuisaRender path tracing).

Parameters:

  • model (str) – Camera model: “pinhole” or “thinlens”. Default is “pinhole”.

  • spp (int) – Samples per pixel for path tracing. Default is 256.

  • denoise (bool) – Whether to apply denoising. Default is False.

  • aperture (float) – Aperture size for thinlens camera (depth of field). Default is 2.8.

  • focal_len (float) – Focal length in meters for thinlens camera. Default is 0.05.

  • focus_dist (float) – Focus distance in meters for thinlens camera. Default is 3.0.

  • env_surface (gs.surfaces.Surface | None) – Environment surface for skybox. Default is None.

  • env_radius (float) – Environment sphere radius. Default is 15.0.

  • env_pos (tuple[float, float, float]) – Environment sphere position. Default is (0, 0, 0).

  • env_quat (tuple[float, float, float, float]) – Environment sphere quaternion (w, x, y, z). Default is (1, 0, 0, 0).

class genesis.engine.sensors.camera.RaytracerCameraSensor(options: RaytracerCameraOptions, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: BaseCameraSensor, Sensor[RaytracerCameraOptions, None, RaytracerCameraSharedMetadata, CameraReturnType]

Raytracer camera sensor using LuisaRender path tracing.

build()[source]#

Register a raytracer camera that reuses the visualizer pipeline.

move_to_attach()[source]#

Move the camera to follow the currently attached rigid link.

Uses a shared transform computation and delegates to _apply_camera_transform().

批量渲染器相机#

class genesis.options.sensors.camera.BatchRendererCameraOptions(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, link_idx_local: int = 0, pos_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), euler_offset: tuple[float, float, float] = (0.0, 0.0, 0.0), res: tuple[int, int] = (512, 512), pos: tuple[float, float, float] = (3.5, 0.0, 1.5), lookat: tuple[float, float, float] = (0.0, 0.0, 0.0), up: tuple[float, float, float] = (0.0, 0.0, 1.0), fov: float = 60.0, lights: list[dict[str, Any]] = [], offset_T: tuple[tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float], tuple[float, float, float, float]] | None = None, model: Literal['pinhole', 'thinlens', 'fisheye'] = 'pinhole', near: float = 0.01, far: float = 100.0, use_rasterizer: bool = True) → None[source]#

Options for Batch Renderer camera sensor (Madrona GPU batch rendering).

Note: All batch renderer cameras must have the same resolution.

Parameters:

use_rasterizer (bool) – Whether to use rasterizer mode. Default is True.

class genesis.engine.sensors.camera.BatchRendererCameraSensor(options: BatchRendererCameraOptions, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: BaseCameraSensor, Sensor[BatchRendererCameraOptions, None, BatchRendererCameraSharedMetadata, CameraReturnType]

Batch renderer camera sensor using Madrona GPU batch rendering.

Note: All batch renderer cameras must have the same resolution.

build()[source]#

Initialize the batch renderer and register this camera.

另请参阅#

  • 传感器：传感器总览与返回形状表。

  • 相机：可视化相机（scene.add_camera().render()），用于获取深度、分割和法线。