Stereo Camera

Configuration

The StereoCameraCfg class defines the configuration for stereo camera sensors. It inherits from CameraCfg and includes additional settings for the right camera and stereo-specific features like disparity computation.

In addition to the standard CameraCfg parameters, it supports the following:

Parameter	Type	Default	Description
intrinsics_right	tuple	(600, 600, 320.0, 240.0)	The intrinsics for the right camera (fx, fy, cx, cy).
left_to_right_pos	tuple	(0.05, 0.0, 0.0)	Position offset [x, y, z] from the left camera to the right camera.
left_to_right_rot	tuple	(0.0, 0.0, 0.0)	Rotation offset [x, y, z] (Euler angles in degrees) from the left camera to the right camera.
enable_disparity	bool	False	Enable disparity map computation. Note: Requires enable_depth to be True.

Usage

You can create a stereo camera sensor using sim.add_sensor() with a StereoCameraCfg object.

Code Example

from embodichain.lab.sim.sensors import StereoCamera, StereoCameraCfg

# 1. Define Configuration
stereo_cfg = StereoCameraCfg(
    width=640,
    height=480,
    # Intrinsics for Left (inherited) and Right cameras
    intrinsics=(600, 600, 320.0, 240.0),
    intrinsics_right=(600, 600, 320.0, 240.0),
    # Baseline configuration (e.g., 5cm baseline)
    left_to_right_pos=(0.05, 0.0, 0.0),
    extrinsics=StereoCameraCfg.ExtrinsicsCfg(
        parent="head_link",
        pos=[0.1, 0.0, 0.0],
    ),
    # Data modalities
    enable_color=True,
    enable_depth=True,
    enable_disparity=True,
)

# 2. Add Sensor to Simulation
stereo_camera: StereoCamera = sim.add_sensor(sensor_cfg=stereo_cfg)