光线投射传感器#

gs.sensors.Raycaster（也可用 gs.sensors.Lidar）从连杆投射一组固定的光线模式，返回命中点和距离，用于激光雷达、接近和障碍物感知。gs.sensors.DepthCamera 用相机光线网格驱动同一套机制，并额外提供 read_image()。关于用法、光线投射的工作原理、如何选择模式以及硬件预设，请参阅 光线投射传感指南。

gs.sensors.Raycaster#

class genesis.options.sensors.options.Raycaster(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, resolution: tuple[float, ...] | float = 0.0, bias: tuple[float, ...] | float = 0.0, noise: tuple[float, ...] | float = 0.0, random_walk: tuple[float, ...] | float = 0.0, 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), pattern: genesis.options.sensors.raycaster.RaycastPattern, min_range: float = 0.0, max_range: float = 20.0, no_hit_value: float | None = None, return_world_frame: bool = False, return_points: bool = True, debug_sphere_radius: float = 0.02, debug_ray_start_color: tuple[float, float, float, float] = (0.5, 0.5, 1.0, 1.0), debug_ray_hit_color: tuple[float, float, float, float] = (1.0, 0.5, 0.5, 1.0)) → None[source]#

Raycaster sensor that performs ray casting to get distance measurements and point clouds.

Parameters:

  • pattern (RaycastPatternOptions) – The raycasting pattern for the sensor.

  • min_range (float, optional) – The minimum sensing range in meters. Defaults to 0.0.

  • max_range (float, optional) – The maximum sensing range in meters. Defaults to 20.0.

  • no_hit_value (float, optional) – The value to return for no hit. Defaults to max_range if not specified.

  • return_world_frame (bool, optional) – Whether to return points in the world frame. Defaults to False (local frame).

  • return_points (bool, optional) – Whether to return the per-ray hit points. Defaults to True. When False, read().points is None and only the hit distances are measured, cutting the sensor’s memory footprint and per-step cost to about a quarter. Pick False for distance-only sensing (e.g. depth images); keep True when the point cloud is needed.

  • debug_sphere_radius (float, optional) – The radius of each debug sphere drawn in the scene. Defaults to 0.02.

  • debug_ray_start_color (array-like[float, float, float, float], optional) – The color of each debug ray start sphere drawn in the scene. Defaults to (0.5, 0.5, 1.0, 1.0).

  • debug_ray_hit_color (array-like[float, float, float, float], optional) – The color of each debug ray hit point sphere drawn in the scene. Defaults to (1.0, 0.5, 0.5, 1.0).

class genesis.engine.sensors.raycaster.RaycasterReturnType(points, distances)[source]#
class genesis.engine.sensors.raycaster.RaycasterSensor(options: Raycaster, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: KinematicSensorMixin, SimpleSensor[Raycaster, RaycastContext, RaycasterSharedMetadata, RaycasterReturnType]

build()[source]#

Initialize all shared metadata needed to update all noisy sensors.

Time-related state (delays_ts, jitter_ts) is pushed by Sensor.build(); this method adds the imperfection-parameter state.

gs.sensors.DepthCamera#

带 DepthCameraPattern 的光线投射器；read_image() 把逐条光线的距离重塑为形状 ([n_envs,] height, width) 的深度图像。

class genesis.options.sensors.options.DepthCamera(*, history_length: int = 0, delay: float = 0.0, jitter: float = 0.0, draw_debug: bool = False, entity_idx: int = -1, resolution: tuple[float, ...] | float = 0.0, bias: tuple[float, ...] | float = 0.0, noise: tuple[float, ...] | float = 0.0, random_walk: tuple[float, ...] | float = 0.0, 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), pattern: genesis.options.sensors.raycaster.DepthCameraPattern, min_range: float = 0.0, max_range: float = 20.0, no_hit_value: float | None = None, return_world_frame: bool = False, return_points: bool = True, debug_sphere_radius: float = 0.02, debug_ray_start_color: tuple[float, float, float, float] = (0.5, 0.5, 1.0, 1.0), debug_ray_hit_color: tuple[float, float, float, float] = (1.0, 0.5, 0.5, 1.0)) → None[source]#

Depth camera that uses ray casting to obtain depth images.

Parameters:

pattern (DepthCameraPattern) – The raycasting pattern configuration for the sensor.

class genesis.engine.sensors.depth_camera.DepthCameraSensor(options: Raycaster, idx: int, shared_context, shared_metadata, manager: SensorManager)[source]#

Bases: RaycasterSensor, Sensor[DepthCamera, RaycastContext, RaycasterSharedMetadata, RaycasterReturnType]

build()[source]#

Initialize all shared metadata needed to update all noisy sensors.

Time-related state (delays_ts, jitter_ts) is pushed by Sensor.build(); this method adds the imperfection-parameter state.

read_image() → Tensor[source]#

Read the depth image from the sensor.

This method uses the hit distances from the underlying RaycasterSensor.read() method and reshapes into image.

Returns:

The depth image with shape (height, width).

Return type:

torch.Tensor

光线模式#

模式是对光线的局部描述：它在传感器坐标系中为每条光线确定起点和单位方向。可以把一个模式实例作为 pattern 参数传入，也可以继承 RaycastPattern 来实现自定义布局。

class genesis.options.sensors.raycaster.RaycastPattern[source]#

Base class for raycast patterns.

class genesis.options.sensors.raycaster.SphericalPattern(fov: tuple[float | tuple[float, float], float | tuple[float, float]] = (360.0, 60.0), n_points: tuple[int, int] = (128, 64), angular_resolution: tuple[float | None, float | None] = (None, None), angles: tuple[Optional[Sequence[float]], Optional[Sequence[float]]] = (None, None))[source]#

Configuration for spherical ray pattern.

Either specify: - (n_points, fov) for uniform spacing by count. - (angular_resolution, fov) for uniform spacing by resolution. - angles for custom angles.

Parameters:

  • fov (tuple[float | tuple[float, float], float | tuple[float, float]]) – Field of view in degrees for horizontal and vertical directions. Defaults to (360.0, 30.0). If a single float is provided, the FOV is centered around 0 degrees. If a tuple is provided, it specifies the (min, max) angles.

  • n_points (tuple[int, int]) – Number of horizontal/azimuth and vertical/elevation scan lines. Defaults to (64, 128).

  • angular_resolution (tuple[float, float], optional) – Horizontal and vertical angular resolution in degrees. Overrides n_points if provided.

  • angles (tuple[Sequence[float], Sequence[float]], optional) – Array of horizontal/vertical angles. Overrides the other options if provided.

class genesis.options.sensors.raycaster.GridPattern(resolution: float = 0.1, size: tuple[float, float] = (2.0, 2.0), direction: tuple[float, float, float] = (0.0, 0.0, -1.0))[source]#

Configuration for grid-based ray casting.

Defines a 2D grid of rays in the sensor coordinate system.

Parameters:

  • resolution (float) – Grid spacing in meters.

  • size (tuple[float, float]) – Grid dimensions (length, width) in meters.

  • direction (tuple[float, float, float]) – Ray direction vector.

class genesis.options.sensors.raycaster.DepthCameraPattern(res: tuple[int, int] = (128, 96), fx: float | None = None, fy: float | None = None, cx: float | None = None, cy: float | None = None, fov_horizontal: float = 90.0, fov_vertical: float | None = None)[source]#

Configuration for pinhole depth camera ray casting.

You can configure the camera intrinsics in several ways: 1. Provide fx and fy directly (and optionally cx, cy) 2. Provide fov_horizontal only (fy computed to maintain aspect ratio) 3. Provide fov_vertical only (fx computed to maintain aspect ratio) 4. Provide both fov_horizontal and fov_vertical

If cx or cy are not provided, they default to the image center.

Parameters:

  • res (tuple[int, int]) – The resolution of the camera, specified as a tuple (width, height).

  • fx (float | None) – Focal length in x direction in pixels. Computed from fov_horizontal if None.

  • fy (float | None) – Focal length in y direction in pixels. Computed from fov_vertical if None.

  • cx (float | None) – Principal point x coordinate in pixels. Defaults to image center if None.

  • cy (float | None) – Principal point y coordinate in pixels. Defaults to image center if None.

  • fov_horizontal (float) – Horizontal field of view in degrees. Used to compute fx if fx is None.

  • fov_vertical (float | None) – Vertical field of view in degrees. Used to compute fy if fy is None.

另请参阅#