# Camera API

Camera system API reference for GenesisLab.

```{toctree}
:maxdepth: 2

api_overview
camera_cfg
```

## Overview

GenesisLab provides two types of camera APIs:

1. **Regular Camera** - Created via `scene.add_camera()`
   - For static cameras or programmatic camera control
   - Uses `.render()` method

2. **Sensor Camera** - Created via `scene.add_sensor()`
   - For entity-attached cameras (tracking)
   - Uses `.read()` method

## Quick Reference

### Regular Camera

```python
# Create camera
camera = scene.add_camera(
    res=(640, 480),
    pos=(2.0, 0.0, 1.5),
    lookat=(0.0, 0.0, 0.5),
    fov=50,
)

# Render
rgb, depth, seg, normal = camera.render(
    rgb=True,
    depth=True,
    segmentation=False,
    normal=False
)
```

### Sensor Camera (Tracking)

```python
from genesislab.engine.scene import CameraCfg

# Configure camera
camera_cfg = CameraCfg(
    track_mode="chase",
    entity_name="robot",
)

# In scene setup
camera = scene.add_sensor(
    gs.sensors.RasterizerCameraOptions(
        width=camera_cfg.width,
        height=camera_cfg.height,
        fov=camera_cfg.fov,
    ),
    entity=robot,
    pos=camera_cfg.pos,
    euler=camera_cfg.euler,
)

# Read data
data = camera.read()
rgb = data.rgb  # [height, width, 3]
depth = data.depth  # [height, width]
```

## Common Issues

### AttributeError: 'RasterizerCameraSensor' object has no attribute 'render'

**Problem**: Trying to use `.render()` on a sensor camera.

**Solution**: Use `.read()` instead:

```python
# ❌ Wrong
rgb, depth = camera.render(rgb=True, depth=True)

# ✅ Correct
data = camera.read()
rgb = data.rgb
depth = data.depth
```

### Camera Not Following Entity

**Problem**: Camera created with `add_camera()` instead of `add_sensor()`.

**Solution**: Use `add_sensor()` for entity-attached cameras:

```python
# ❌ Won't follow
camera = scene.add_camera(...)

# ✅ Will follow
camera = scene.add_sensor(
    gs.sensors.RasterizerCameraOptions(...),
    entity=robot,
    pos=pos,
    euler=euler,
)
```

## See Also

- [API Overview](api_overview.md) - Detailed API differences and fixes
- [CameraCfg](camera_cfg.md) - Camera configuration reference
- [Camera User Guide](../../../user_guide/camera/index.md) - Usage guides and tutorials