metasim.cfg.sensors#

Sub-module containing the camera configuration.

class metasim.cfg.sensors.cameras.BaseCameraCfg#

Base camera configuration.

name: str#: Name of the camera. Defaults to “camera0”. Different cameras should have different names, so if you add multiple cameras, make sure to give them unique names.

data_types: list[Literal['rgb', 'depth']]#: List of sensor types to enable for the camera. Defaults to [“rgb”, “depth”].

width: int#: Width of the image in pixels. Defaults to 256.

height: int#: Height of the image in pixels. Defaults to 256.

pos: tuple[float, float, float]#: Position of the camera in the world frame. Defaults to (0.0, 0.0, 1.0).

look_at: tuple[float, float, float]#: Look at point of the camera in the world frame. Defaults to (0.0, 0.0, 0.0).

class metasim.cfg.sensors.cameras.PinholeCameraCfg#

Pinhole camera configuration.

focal_length: float#: Perspective focal length (in cm). Defaults to 24.0 cm.

name: str#: Name of the camera. Defaults to “camera0”. Different cameras should have different names, so if you add multiple cameras, make sure to give them unique names.

data_types: list[Literal['rgb', 'depth']]#: List of sensor types to enable for the camera. Defaults to [“rgb”, “depth”].

width: int#: Width of the image in pixels. Defaults to 256.

height: int#: Height of the image in pixels. Defaults to 256.

pos: tuple[float, float, float]#: Position of the camera in the world frame. Defaults to (0.0, 0.0, 1.0).

look_at: tuple[float, float, float]#: Look at point of the camera in the world frame. Defaults to (0.0, 0.0, 0.0).

focus_distance: float#: Distance from the camera to the focus plane (in m). Defaults to 400.0.

horizontal_aperture: float#: Horizontal aperture (in cm). Defaults to 20.955 cm.

clipping_range: tuple[float, float]#: Near and far clipping distances (in m). Defaults to (0.05, 1e5).

property vertical_aperture: float#: Vertical aperture (in cm).

property horizontal_fov: float#: Horizontal field of view, in degrees.

property vertical_fov: float#: Vertical field of view, in degrees.

property intrinsics: list[list[float]]#: Intrinsics matrix of the camera. Type is 3x3 nested list of floats.