Sensors API

BiguaSim features a comprehensive suite of high-fidelity simulated sensors that can be attached to agents. Below is the summary of sensors divided by application domain.

Sensor Overview

Sensor	Description
Acoustic / Sonars
UImagingSonar	Imaging sonar (Forward Looking). Simulates complex acoustic reflections, multipath, and shadowing.
UProfilingSonar	Profiling sonar. Inherits the physics of the imaging sonar but forces an extremely narrow elevation beam (1 degree) for cross-sectional slices.
USidescanSonar	Sidescan sonar. Returns a 1D array containing port and starboard echoes to generate seabed mosaics.
USinglebeamSonar	Echo sounder (Singlebeam Sonar). Emits a single acoustic cone to measure distance/intensity.
Vision / Cameras
URGBCamera	Standard optical camera rendering the visible spectrum.
UDepthCamera	High-fidelity Z-buffer depth camera. The matrix returns the exact distance where each pixel represents a ray projected in a straight line.
URGBDCamera	2-in-1 camera. Simultaneously returns color and depth in the same render pass. Ideal for Visual SLAM.
UAnnotationComponent	Semantic Segmentation Camera. Tags and paints scene objects based on customizable IDs.
Dynamics / Navigation
UDVLSensor	Doppler Velocity Log. Measures three-dimensional linear velocity using a 4-beam acoustic array (Janus configuration).
UIMUSensor	Inertial Measurement Unit. Simulates linear acceleration and angular velocity with Gaussian noise and Random Walk Bias.
UGPSSensor	Returns the global coordinate (X,Y,Z). Simulates signal attenuation (returns NaN if submerged).
UMagnetometerSensor	3D Compass. Measures the global magnetic vector in the local reference frame to correct rotation drift (Yaw).
UCollisionSensor	Returns a boolean (True/False) indicating whether the agent collided with something.
Scanners / Range
URangeFinderSensor	Raycast-based distance sensor. Can act as a 1-beam rangefinder or a planar 2D Lidar (360 degrees).
URaycastLidar	High-fidelity rotary 3D Lidar. Simulates atmospheric attenuation and point loss due to low reflectivity (Drop-off).
URaycastSemanticLidar	Semantic 3D Lidar. Returns the point cloud (XYZ) and extracts the Semantic ID of each hit object.
Utilities / Ground Truth
ULocationSensor	Absolute Ground Truth of the agent’s global position (X,Y,Z) with no signal loss.
URotationSensor	Ground Truth of the rotation in Euler Angles (Roll, Pitch, Yaw).
UOrientationSensor	Ground Truth of the orientation in a 3x3 Rotation Matrix format (Forward, Left, and Up vectors).
UPoseSensor	Returns position and orientation packed into a 4x4 Homogeneous Transformation Matrix (16 floats).
UDynamicsSensor	Full kinematic sensor (Ground Truth). Array containing Acceleration, Velocity, Position, and Orientation.
UVelocitySensor	Ground Truth of the absolute linear velocity (X,Y,Z).

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Detailed API Reference

Imaging Sonar

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Profiling Sonar

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Sidescan Sonar

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Singlebeam Sonar

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RGB Camera

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Depth Camera

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RGB-D Camera

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Annotation Component (Semantic Camera)

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DVL Sensor

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IMU Sensor

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GPS Sensor

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Magnetometer Sensor

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Collision Sensor

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Range Finder Sensor

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Raycast Lidar

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Raycast Semantic Lidar

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Location Sensor

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Rotation Sensor

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Orientation Sensor

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Pose Sensor

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Dynamics Sensor

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Velocity Sensor

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