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Stereo Camera Simulation Details

Overview​

Stereo cameras are important components in robotic perception systems, acquiring depth information by simulating binocular vision. DISCOVERSE integrates powerful stereo camera simulation, supporting high-quality RGB and depth image rendering, as well as flexible camera trajectory planning.

🎯 Learning Objectives​

After completing this tutorial, you will be able to:

  • Understand the basic principles of stereo vision
  • Master the use of the camera_view.py tool
  • Configure binocular camera parameters
  • Perform camera trajectory interpolation and data acquisition
  • Parse observation data structures

📋 Prerequisites​

  • Complete the basic simulation tutorial
  • Install 3D Gaussian rendering dependencies (optional, for high-fidelity rendering)
  • Prepare 3DGS model files (.ply format)

Principles of Stereo Vision​

What is a Stereo Camera?​

A stereo camera system mimics human binocular vision and consists of two cameras placed side by side:

graph TD
    A[Left Camera] --> C[Stereo Image Pair]
    B[Right Camera] --> C
    C --> D[Disparity Calculation]
    D --> E[Depth Information]