Sensors

OceanSim sensor modules output structured payloads for the TCP protocol, Python SDK, recorders, replay tools, and visualization utilities.

Sensor families

Family	Modules	Typical output
Navigation	Depth, IMU, DVL	Depth, acceleration, angular velocity, local/world velocity, and altitude-like velocity cues.
Vision	Camera, RGB-D dense sensor	RGB frames, depth maps, segmentation-like payloads, camera intrinsics, and RGB-D clouds.
Range	2D lidar, 3D lidar	2D scans, structured point clouds, organized range images, ring/column metadata, and intensity.
Sonar	Imaging, multibeam, side-scan	Acoustic-style beams, range bins, intensity images, and mapping observations.

Payload envelope

Every professional sensor payload is normalized to an oceansim_sensor_payload envelope. Sensor-specific fields are preserved, and the common envelope provides stable metadata for downstream tools.

Field	Meaning
schema_name / schema_version	Identifies the OceanSim payload schema and version.
sensor_type	Human-readable sensor family, such as lidar_3d or dvl.
sim_time, timestamp_sim, timestamp_wall	Simulation and wall-clock timing values.
frame_id, sensor_frame_id, parent_frame_id	Coordinate-frame metadata for robot and sensor transforms.
extrinsic_xyz_rpy, extrinsic_quat_xyzw	Sensor extrinsics in Euler and quaternion forms.
covariance	Optional uncertainty metadata using a diagonal-variance convention.

Data access

from oceansim_client import AUV, xyz_from_cloud

with AUV() as auv:
    sensors = auv.get_sensors(validate=True)
    cloud = auv.get_point_cloud_3d()
    points = xyz_from_cloud(cloud, world=True)