# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
import warnings
from dataclasses import MISSING, field
from typing import TYPE_CHECKING, Literal
from isaaclab.renderers import RendererCfg
from isaaclab.sim import FisheyeCameraCfg, PinholeCameraCfg
from isaaclab.utils.configclass import configclass
from ..sensor_base_cfg import SensorBaseCfg
if TYPE_CHECKING:
from .camera import Camera
# Default values for the RTX-flavored fields kept on :class:`CameraCfg` for
# backward compatibility. These mirror the defaults on
# :class:`~isaaclab_physx.renderers.IsaacRtxRendererCfg`.
_DEPRECATED_RENDERER_FIELD_DEFAULTS: dict = {
"semantic_filter": "*:*",
"colorize_semantic_segmentation": True,
"colorize_instance_id_segmentation": True,
"colorize_instance_segmentation": True,
"semantic_segmentation_mapping": {},
"depth_clipping_behavior": "none",
}
[docs]
@configclass
class CameraCfg(SensorBaseCfg):
"""Configuration for a camera sensor."""
@configclass
class OffsetCfg:
"""The offset pose of the sensor's frame from the sensor's parent frame."""
pos: tuple[float, float, float] = (0.0, 0.0, 0.0)
"""Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)."""
rot: tuple[float, float, float, float] = (0.0, 0.0, 0.0, 1.0)
"""Quaternion rotation (x, y, z, w) w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0, 1.0)."""
convention: Literal["opengl", "ros", "world"] = "ros"
"""The convention in which the frame offset is applied. Defaults to "ros".
- ``"opengl"`` - forward axis: ``-Z`` - up axis: ``+Y`` - Offset is applied in the OpenGL (Usd.Camera)
convention.
- ``"ros"`` - forward axis: ``+Z`` - up axis: ``-Y`` - Offset is applied in the ROS convention.
- ``"world"`` - forward axis: ``+X`` - up axis: ``+Z`` - Offset is applied in the World Frame convention.
"""
class_type: type[Camera] | str = "{DIR}.camera:Camera"
offset: OffsetCfg = OffsetCfg()
"""The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity.
.. note::
The parent frame is the frame the sensor attaches to. For example, the parent frame of a
camera at path ``/World/envs/env_0/Robot/Camera`` is ``/World/envs/env_0/Robot``.
"""
spawn: PinholeCameraCfg | FisheyeCameraCfg | None = MISSING
"""Spawn configuration for the asset.
If None, then the prim is not spawned by the asset. Instead, it is assumed that the
asset is already present in the scene.
"""
depth_clipping_behavior: Literal["max", "zero", "none"] = "none"
"""Clipping behavior for the camera for values exceed the maximum value. Defaults to "none".
- ``"max"``: Values are clipped to the maximum value.
- ``"zero"``: Values are clipped to zero.
- ``"none``: No clipping is applied. Values will be returned as ``inf``.
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.depth_clipping_behavior`
on :attr:`renderer_cfg` instead.
"""
data_types: list[str] = ["rgb"]
"""List of sensor names/types to enable for the camera. Defaults to ["rgb"].
Please refer to the :class:`Camera` class for a list of available data types.
"""
width: int = MISSING
"""Width of the image in pixels."""
height: int = MISSING
"""Height of the image in pixels."""
update_latest_camera_pose: bool = False
"""Whether to update the latest camera pose when fetching the camera's data. Defaults to False.
If True, the latest camera pose is updated in the camera's data which will slow down performance
due to the use of :class:`FrameView`.
If False, the pose of the camera during initialization is returned.
"""
semantic_filter: str | list[str] = "*:*"
"""A string or a list specifying a semantic filter predicate. Defaults to ``"*:*"``.
If a string, it should be a disjunctive normal form of (semantic type, labels). For examples:
* ``"typeA : labelA & !labelB | labelC , typeB: labelA ; typeC: labelE"``:
All prims with semantic type "typeA" and label "labelA" but not "labelB" or with label "labelC".
Also, all prims with semantic type "typeB" and label "labelA", or with semantic type "typeC" and label "labelE".
* ``"typeA : * ; * : labelA"``: All prims with semantic type "typeA" or with label "labelA"
If a list of strings, each string should be a semantic type. The segmentation for prims with
semantics of the specified types will be retrieved. For example, if the list is ["class"], only
the segmentation for prims with semantics of type "class" will be retrieved.
.. seealso::
For more information on the semantics filter, see the documentation on `Replicator Semantics Schema Editor`_.
.. _Replicator Semantics Schema Editor: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html#semantics-filtering
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.semantic_filter` on
:attr:`renderer_cfg` instead.
"""
colorize_semantic_segmentation: bool = True
"""Whether to colorize the semantic segmentation images. Defaults to True.
If True, semantic segmentation is converted to an image where semantic IDs are mapped to colors
and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.colorize_semantic_segmentation`
on :attr:`renderer_cfg` instead.
"""
colorize_instance_id_segmentation: bool = True
"""Whether to colorize the instance ID segmentation images. Defaults to True.
If True, instance id segmentation is converted to an image where instance IDs are mapped to colors.
and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.colorize_instance_id_segmentation`
on :attr:`renderer_cfg` instead.
"""
colorize_instance_segmentation: bool = True
"""Whether to colorize the instance ID segmentation images. Defaults to True.
If True, instance segmentation is converted to an image where instance IDs are mapped to colors.
and returned as a ``uint8`` 4-channel array. If False, the output is returned as a ``int32`` array.
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.colorize_instance_segmentation`
on :attr:`renderer_cfg` instead.
"""
semantic_segmentation_mapping: dict = {}
"""Dictionary mapping semantics to specific colours
Eg.
.. code-block:: python
{
"class:cube_1": (255, 36, 66, 255),
"class:cube_2": (255, 184, 48, 255),
"class:cube_3": (55, 255, 139, 255),
"class:table": (255, 237, 218, 255),
"class:ground": (100, 100, 100, 255),
"class:robot": (61, 178, 255, 255),
}
.. deprecated:: 4.6.22
This field is RTX-specific. Set
:attr:`~isaaclab_physx.renderers.IsaacRtxRendererCfg.semantic_segmentation_mapping`
on :attr:`renderer_cfg` instead.
"""
renderer_cfg: RendererCfg = field(default_factory=RendererCfg)
"""Renderer configuration for camera sensor."""
def __post_init__(self):
"""Forward deprecated RTX-flavored fields onto :attr:`renderer_cfg`.
Each deprecated field set to a non-default value emits a
:class:`DeprecationWarning` and is copied onto ``self.renderer_cfg``
when that cfg defines the same-named field.
"""
# TODO when Camera.__init__ moves rtx_sensor setting out of camera initialization
# the default renderer config instantiation can be moved into the render factory
# and get_default_render_cfg method can be removed from backend_utils
renderer_type = getattr(self.renderer_cfg, "renderer_type", None)
if renderer_type == "default":
from isaaclab.utils.backend_utils import get_default_renderer_cfg
self.renderer_cfg = get_default_renderer_cfg()
# Forwarded by name: any same-named field on ``renderer_cfg`` will receive the value.
for field_name, default in _DEPRECATED_RENDERER_FIELD_DEFAULTS.items():
value = getattr(self, field_name)
if value == default:
continue
warnings.warn(
f"CameraCfg.{field_name} is deprecated and will be removed in a future release."
f" Set this field on CameraCfg.renderer_cfg instead.",
DeprecationWarning,
stacklevel=2,
)
if hasattr(self.renderer_cfg, field_name):
setattr(self.renderer_cfg, field_name, value)
# Reset to default so re-runs of ``__post_init__`` (via ``SensorBase.__init__``'s
# ``cfg.copy()``) don't re-forward and clobber a user-set ``renderer_cfg`` field.
setattr(self, field_name, default)
