Applies to v0.1.0.
Camera
The camera matches the module on the real car. One placed camera can produce up to three image streams: colour (RGB), depth, and segmentation. When you finish this page you will have a camera on the car, know what each setting does, and see its picture live.
Add it
Sensor Setup → Sensor Type Camera → VEYE IMX462 under Sensor Selection → place it. Then open its sections below.
Intrinsics: the picture itself
| Field | What it does | Stock value |
|---|---|---|
| Resolution (Width × Height) | Pixel size of every stream | 1920 × 1080 |
| Field of View (Horizontal / Vertical / Diagonal) | How wide the camera sees, in degrees. The three values are linked through the aspect ratio — set one, the others follow. | matches the real module's ~51° horizontal |
| Frame Rate | Frames per second on the wire | 30 Hz |
Noise: make the colour image imperfect on purpose
A real image sensor is not clean. This section adds that imperfection to the RGB stream so what you train on is not suspiciously perfect:
- Enabled — master switch. Off means a clean render, whatever the values below say.
- Model — which noise formula to apply.
- Read σ — constant sensor noise, the same in dark and bright areas.
- Shot σ — brightness-dependent noise, stronger in bright areas.
σ (sigma) is the noise strength: 0 is none, bigger is noisier. Leave this off while you are learning the simulator; turn it on when you start training and want robustness. See Sim-to-Real.
Depth Camera: distance per pixel
- Enable — turns the depth stream on. Off by default.
- Topic — the depth stream's own topic name (read-only).
- Max Range (m) — the farthest distance the depth image encodes.
- Noise Model, σ₀, σ_q — depth noise: σ₀ is a constant floor, σ_q grows with distance, matching how real depth sensors get worse farther out.
Segmentation: the label image
- Enable — turns the segmentation stream on. Off by default.
- Topic — its topic name (read-only).
Every pixel is painted the single flat colour of its class (road, lane, obstacle …) with no smoothing, so the image doubles as an exact ground-truth label. This is the stream the dataset collector records.
See it working
- Foxglove — an Image panel on the camera's topic.
- ROS — the streams are compressed images; the Visualisationpage shows the three ways to view them (rviz's Image display alone will not; its dropdown only lists raw images).
Common problems
- The dataset collector says no segmentation image — the Segmentation stream is off. Enable it here.
- Depth/segmentation topics missing from
ros2 topic list— same cause; a stream that is off publishes nothing.