Cameras#

Cameras in Genesis are sensors that capture visual information from the simulation. They can render RGB images, depth maps, segmentation masks, and other visual data.

Overview#

Genesis provides a unified Camera class that works with different rendering backends:

  • Rasterizer cameras: Fast rendering for real-time use

  • Raytracer cameras: Photorealistic rendering

  • BatchRenderer cameras: High-throughput parallel rendering

Adding Cameras#

import genesis as gs

gs.init()
scene = gs.Scene()
scene.add_entity(gs.morphs.Plane())
scene.build()

# Add a camera
cam = scene.add_camera(
    res=(1280, 720),       # Resolution (width, height)
    pos=(3, 0, 2),         # Camera position
    lookat=(0, 0, 0.5),    # Look-at target
    fov=40,                # Field of view (degrees)
    up=(0, 0, 1),          # Up vector
)

Rendering Images#

# Step simulation
scene.step()

# Render different output types
rgb = cam.render(rgb=True)                    # RGB image
depth = cam.render(depth=True)                # Depth map
segmentation = cam.render(segmentation=True)  # Segmentation
normal = cam.render(normal=True)              # Surface normals

# Render multiple types at once
outputs = cam.render(rgb=True, depth=True)

Camera Parameters#

Parameter

Type

Description

res

tuple (W, H)

Image resolution

pos

tuple (x, y, z)

Camera position

lookat

tuple (x, y, z)

Point camera looks at

up

tuple (x, y, z)

Up direction

fov

float

Vertical field of view (degrees)

model

str

Camera model: pinhole or thinlens

spp

int

Samples per pixel (raytracer only)

denoise

bool

Enable denoising (raytracer only)

Camera Models#

Pinhole Camera (Default)#

Standard perspective camera with infinite depth of field:

cam = scene.add_camera(
    res=(1280, 720),
    pos=(3, 0, 2),
    lookat=(0, 0, 0.5),
    model="pinhole",
)

Thin Lens Camera#

Physically-based camera with depth of field:

cam = scene.add_camera(
    res=(1920, 1080),
    pos=(3, 0, 2),
    lookat=(0, 0, 0.5),
    model="thinlens",
    aperture=0.1,       # Aperture size
    focus_dist=3.0,     # Focus distance
)

Dynamic Camera Control#

# Update camera position during simulation
cam.set_pose(
    pos=(5, 0, 3),
    lookat=(0, 0, 0),
)

# Follow an entity
cam.follow_entity(robot, offset=(2, 0, 1))

Components#

See Also#