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Sensors Overview

DISCOVERSE provides rich sensor support, including RGB cameras, depth cameras, stereo cameras, and more. This tutorial will guide you through configuring and using various sensors in DISCOVERSE.

đŸŽ¯ Learning Objectives​

  • Understand the types of sensors supported by DISCOVERSE
  • Master sensor configuration methods
  • Learn the API for acquiring sensor data
  • Understand stereo vision and depth perception

📷 Supported Sensor Types​

RGB Camera​

Provides color image observation and supports multi-camera configuration:

# Configure RGB camera (must be set explicitly, default is None)
config.obs_rgb_cam_id = [0, 1, 2]  # List of camera IDs

# Get RGB image
rgb_image = sim.getRgbImg(cam_id=0)  # Returns (H, W, 3) numpy array

Depth Camera​

Obtain depth information of the scene:

# Configure depth camera
config.obs_depth_cam_id = [0, 1]  # List of depth camera IDs

# Get depth image
depth_image = sim.getDepthImg(cam_id=0)  # Returns (H, W) numpy array

Stereo Camera System​

DISCOVERSE supports high-precision stereo camera simulation for depth perception and 3D reconstruction:

  • Binocular camera configuration: Simulate real stereo camera systems
  • Disparity calculation: Automatically compute disparity between left and right images