[Question] Support for Fisheye Camera and RayCaster Lidar

[AJingshou]

Hello,

I would like to inquire if it's possible to use a fisheye camera and a RayCaster-based Lidar within the Aerial-Gym simulation environment.

Specifically, my questions are:

Does aerial_gym_simulator currently support fisheye camera models?

Is it possible to integrate or use a RayCaster Lidar sensor?

Any information or guidance on this would be greatly appreciated.

Thank you!

[mihirk284]

Hello,

For RGB rendering, Aerial uses the underlying Isaac Gym camera sensors. For this, there is no support for fisheye models.

However for depth, range, LiDAR etc there is a custom rendering implementation where one can implement their own projection models and simulate this as one likes.

For example, the sensor configurations can be set by changing the contents of the files here: https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/aerial_gym/config/sensor_config

At the same time, the sensor models for depth cameras, LiDARs reside here: https://github.com/ntnu-arl/aerial_gym_simulator/tree/main/aerial_gym/sensors/warp

Note that the LiDARs support both standard 3D and hemispherical dome sensors. To my understanding, this warp-based implementation works very similar to the RayCaster implementation of Isaac Lab.