# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

# ignore private usage of variables warning
# pyright: reportPrivateUsage=none

"""Launch Isaac Sim Simulator first."""

from isaaclab.app import AppLauncher

# launch omniverse app
simulation_app = AppLauncher(headless=True, enable_cameras=True).app

"""Rest everything follows."""

import copy
import os
import random

import numpy as np
import pytest
import scipy.spatial.transform as tf
import torch

import omni.replicator.core as rep
from isaacsim.core.prims import SingleGeometryPrim, SingleRigidPrim
from pxr import Gf, Usd, UsdGeom

import isaaclab.sim as sim_utils
from isaaclab.sensors.camera import Camera, CameraCfg
from isaaclab.utils import convert_dict_to_backend
from isaaclab.utils.math import convert_quat
from isaaclab.utils.timer import Timer

# sample camera poses
POSITION = (2.5, 2.5, 2.5)
QUAT_ROS = (-0.17591989, 0.33985114, 0.82047325, -0.42470819)
QUAT_OPENGL = (0.33985113, 0.17591988, 0.42470818, 0.82047324)
QUAT_WORLD = (-0.3647052, -0.27984815, -0.1159169, 0.88047623)

# NOTE: setup and teardown are own function to allow calling them in the tests

# resolutions
HEIGHT = 240
WIDTH = 320


def setup() -> tuple[sim_utils.SimulationContext, CameraCfg, float]:
    camera_cfg = CameraCfg(
        height=HEIGHT,
        width=WIDTH,
        prim_path="/World/Camera",
        update_period=0,
        data_types=["distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg(
            focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1.0e5)
        ),
    )
    # Create a new stage
    sim_utils.create_new_stage()
    # Simulation time-step
    dt = 0.01
    # Load kit helper
    sim_cfg = sim_utils.SimulationCfg(dt=dt)
    sim = sim_utils.SimulationContext(sim_cfg)
    # populate scene
    _populate_scene()
    # load stage
    sim_utils.update_stage()
    return sim, camera_cfg, dt


def teardown(sim: sim_utils.SimulationContext):
    # Cleanup
    # close all the opened viewport from before.
    rep.vp_manager.destroy_hydra_textures("Replicator")
    # stop simulation
    # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :(
    sim._timeline.stop()
    # clear the stage
    sim.clear_all_callbacks()
    sim.clear_instance()


@pytest.fixture
def setup_sim_camera():
    """Create a simulation context."""
    sim, camera_cfg, dt = setup()
    yield sim, camera_cfg, dt
    teardown(sim)


def test_camera_init(setup_sim_camera):
    """Test camera initialization."""
    # Create camera configuration
    sim, camera_cfg, dt = setup_sim_camera
    # Create camera
    camera = Camera(camera_cfg)
    # Check simulation parameter is set correctly
    assert sim.has_rtx_sensors()
    # Play sim
    sim.reset()
    # Check if camera is initialized
    assert camera.is_initialized
    # Check if camera prim is set correctly and that it is a camera prim
    assert camera._sensor_prims[0].GetPath().pathString == camera_cfg.prim_path
    assert isinstance(camera._sensor_prims[0], UsdGeom.Camera)

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    # Check buffers that exist and have correct shapes
    assert camera.data.pos_w.shape == (1, 3)
    assert camera.data.quat_w_ros.shape == (1, 4)
    assert camera.data.quat_w_world.shape == (1, 4)
    assert camera.data.quat_w_opengl.shape == (1, 4)
    assert camera.data.intrinsic_matrices.shape == (1, 3, 3)
    assert camera.data.image_shape == (camera_cfg.height, camera_cfg.width)
    assert camera.data.info == [{camera_cfg.data_types[0]: None}]

    # Simulate physics
    for _ in range(10):
        # perform rendering
        sim.step()
        # update camera
        camera.update(sim.cfg.dt)
        # check image data
        for im_data in camera.data.output.values():
            assert im_data.shape == (1, camera_cfg.height, camera_cfg.width, 1)


def test_camera_init_offset(setup_sim_camera):
    """Test camera initialization with offset using different conventions."""
    sim, camera_cfg, dt = setup_sim_camera
    # define the same offset in all conventions
    # -- ROS convention
    cam_cfg_offset_ros = copy.deepcopy(camera_cfg)
    cam_cfg_offset_ros.update_latest_camera_pose = True
    cam_cfg_offset_ros.offset = CameraCfg.OffsetCfg(
        pos=POSITION,
        rot=QUAT_ROS,
        convention="ros",
    )
    cam_cfg_offset_ros.prim_path = "/World/CameraOffsetRos"
    camera_ros = Camera(cam_cfg_offset_ros)
    # -- OpenGL convention
    cam_cfg_offset_opengl = copy.deepcopy(camera_cfg)
    cam_cfg_offset_opengl.update_latest_camera_pose = True
    cam_cfg_offset_opengl.offset = CameraCfg.OffsetCfg(
        pos=POSITION,
        rot=QUAT_OPENGL,
        convention="opengl",
    )
    cam_cfg_offset_opengl.prim_path = "/World/CameraOffsetOpengl"
    camera_opengl = Camera(cam_cfg_offset_opengl)
    # -- World convention
    cam_cfg_offset_world = copy.deepcopy(camera_cfg)
    cam_cfg_offset_world.update_latest_camera_pose = True
    cam_cfg_offset_world.offset = CameraCfg.OffsetCfg(
        pos=POSITION,
        rot=QUAT_WORLD,
        convention="world",
    )
    cam_cfg_offset_world.prim_path = "/World/CameraOffsetWorld"
    camera_world = Camera(cam_cfg_offset_world)

    # play sim
    sim.reset()

    # retrieve camera pose using USD API
    prim_tf_ros = camera_ros._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    prim_tf_opengl = camera_opengl._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    prim_tf_world = camera_world._sensor_prims[0].ComputeLocalToWorldTransform(Usd.TimeCode.Default())
    # convert them from column-major to row-major
    prim_tf_ros = np.transpose(prim_tf_ros)
    prim_tf_opengl = np.transpose(prim_tf_opengl)
    prim_tf_world = np.transpose(prim_tf_world)

    # check that all transforms are set correctly
    np.testing.assert_allclose(prim_tf_ros[0:3, 3], cam_cfg_offset_ros.offset.pos)
    np.testing.assert_allclose(prim_tf_opengl[0:3, 3], cam_cfg_offset_opengl.offset.pos)
    np.testing.assert_allclose(prim_tf_world[0:3, 3], cam_cfg_offset_world.offset.pos)
    np.testing.assert_allclose(
        convert_quat(tf.Rotation.from_matrix(prim_tf_ros[:3, :3]).as_quat(), "wxyz"),
        cam_cfg_offset_opengl.offset.rot,
        rtol=1e-5,
    )
    np.testing.assert_allclose(
        convert_quat(tf.Rotation.from_matrix(prim_tf_opengl[:3, :3]).as_quat(), "wxyz"),
        cam_cfg_offset_opengl.offset.rot,
        rtol=1e-5,
    )
    np.testing.assert_allclose(
        convert_quat(tf.Rotation.from_matrix(prim_tf_world[:3, :3]).as_quat(), "wxyz"),
        cam_cfg_offset_opengl.offset.rot,
        rtol=1e-5,
    )

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    # check if transform correctly set in output
    np.testing.assert_allclose(camera_ros.data.pos_w[0].cpu().numpy(), cam_cfg_offset_ros.offset.pos, rtol=1e-5)
    np.testing.assert_allclose(camera_ros.data.quat_w_ros[0].cpu().numpy(), QUAT_ROS, rtol=1e-5)
    np.testing.assert_allclose(camera_ros.data.quat_w_opengl[0].cpu().numpy(), QUAT_OPENGL, rtol=1e-5)
    np.testing.assert_allclose(camera_ros.data.quat_w_world[0].cpu().numpy(), QUAT_WORLD, rtol=1e-5)


def test_multi_camera_init(setup_sim_camera):
    """Test multi-camera initialization."""
    sim, camera_cfg, dt = setup_sim_camera
    # create two cameras with different prim paths
    # -- camera 1
    cam_cfg_1 = copy.deepcopy(camera_cfg)
    cam_cfg_1.prim_path = "/World/Camera_1"
    cam_1 = Camera(cam_cfg_1)
    # -- camera 2
    cam_cfg_2 = copy.deepcopy(camera_cfg)
    cam_cfg_2.prim_path = "/World/Camera_2"
    cam_2 = Camera(cam_cfg_2)

    # play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    # Simulate physics
    for _ in range(10):
        # perform rendering
        sim.step()
        # update camera
        cam_1.update(dt)
        cam_2.update(dt)
        # check image data
        for cam in [cam_1, cam_2]:
            for im_data in cam.data.output.values():
                assert im_data.shape == (1, camera_cfg.height, camera_cfg.width, 1)


def test_multi_camera_with_different_resolution(setup_sim_camera):
    """Test multi-camera initialization with cameras having different image resolutions."""
    sim, camera_cfg, dt = setup_sim_camera
    # create two cameras with different prim paths
    # -- camera 1
    cam_cfg_1 = copy.deepcopy(camera_cfg)
    cam_cfg_1.prim_path = "/World/Camera_1"
    cam_1 = Camera(cam_cfg_1)
    # -- camera 2
    cam_cfg_2 = copy.deepcopy(camera_cfg)
    cam_cfg_2.prim_path = "/World/Camera_2"
    cam_cfg_2.height = 240
    cam_cfg_2.width = 320
    cam_2 = Camera(cam_cfg_2)

    # play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    # perform rendering
    sim.step()
    # update camera
    cam_1.update(dt)
    cam_2.update(dt)
    # check image sizes
    assert cam_1.data.output["distance_to_image_plane"].shape == (1, camera_cfg.height, camera_cfg.width, 1)
    assert cam_2.data.output["distance_to_image_plane"].shape == (1, cam_cfg_2.height, cam_cfg_2.width, 1)


def test_camera_init_intrinsic_matrix(setup_sim_camera):
    """Test camera initialization from intrinsic matrix."""
    sim, camera_cfg, dt = setup_sim_camera
    # get the first camera
    camera_1 = Camera(cfg=camera_cfg)
    # get intrinsic matrix
    sim.reset()
    intrinsic_matrix = camera_1.data.intrinsic_matrices[0].cpu().flatten().tolist()
    teardown(sim)
    # reinit the first camera
    sim, camera_cfg, dt = setup()
    camera_1 = Camera(cfg=camera_cfg)
    # initialize from intrinsic matrix
    intrinsic_camera_cfg = CameraCfg(
        height=HEIGHT,
        width=WIDTH,
        prim_path="/World/Camera_2",
        update_period=0,
        data_types=["distance_to_image_plane"],
        spawn=sim_utils.PinholeCameraCfg.from_intrinsic_matrix(
            intrinsic_matrix=intrinsic_matrix,
            width=WIDTH,
            height=HEIGHT,
            focal_length=24.0,
            focus_distance=400.0,
            clipping_range=(0.1, 1.0e5),
        ),
    )
    camera_2 = Camera(cfg=intrinsic_camera_cfg)

    # play sim
    sim.reset()

    # update cameras
    camera_1.update(dt)
    camera_2.update(dt)

    # check image data
    torch.testing.assert_close(
        camera_1.data.output["distance_to_image_plane"],
        camera_2.data.output["distance_to_image_plane"],
        rtol=5e-3,
        atol=1e-4,
    )
    # check that both intrinsic matrices are the same
    torch.testing.assert_close(
        camera_1.data.intrinsic_matrices[0],
        camera_2.data.intrinsic_matrices[0],
        rtol=5e-3,
        atol=1e-4,
    )


def test_camera_set_world_poses(setup_sim_camera):
    """Test camera function to set specific world pose."""
    sim, camera_cfg, dt = setup_sim_camera
    # enable update latest camera pose
    camera_cfg.update_latest_camera_pose = True
    # init camera
    camera = Camera(camera_cfg)
    # play sim
    sim.reset()

    # convert to torch tensors
    position = torch.tensor([POSITION], dtype=torch.float32, device=camera.device)
    orientation = torch.tensor([QUAT_WORLD], dtype=torch.float32, device=camera.device)
    # set new pose
    camera.set_world_poses(position.clone(), orientation.clone(), convention="world")

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    # check if transform correctly set in output
    torch.testing.assert_close(camera.data.pos_w, position)
    torch.testing.assert_close(camera.data.quat_w_world, orientation)


def test_camera_set_world_poses_from_view(setup_sim_camera):
    """Test camera function to set specific world pose from view."""
    sim, camera_cfg, dt = setup_sim_camera
    # enable update latest camera pose
    camera_cfg.update_latest_camera_pose = True
    # init camera
    camera = Camera(camera_cfg)
    # play sim
    sim.reset()

    # convert to torch tensors
    eyes = torch.tensor([POSITION], dtype=torch.float32, device=camera.device)
    targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device)
    quat_ros_gt = torch.tensor([QUAT_ROS], dtype=torch.float32, device=camera.device)
    # set new pose
    camera.set_world_poses_from_view(eyes.clone(), targets.clone())

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    # check if transform correctly set in output
    torch.testing.assert_close(camera.data.pos_w, eyes)
    torch.testing.assert_close(camera.data.quat_w_ros, quat_ros_gt)


def test_intrinsic_matrix(setup_sim_camera):
    """Checks that the camera's set and retrieve methods work for intrinsic matrix."""
    sim, camera_cfg, dt = setup_sim_camera
    # enable update latest camera pose
    camera_cfg.update_latest_camera_pose = True
    # init camera
    camera = Camera(camera_cfg)
    # play sim
    sim.reset()
    # Desired properties (obtained from realsense camera at 320x240 resolution)
    rs_intrinsic_matrix = [229.8, 0.0, 160.0, 0.0, 229.8, 120.0, 0.0, 0.0, 1.0]
    rs_intrinsic_matrix = torch.tensor(rs_intrinsic_matrix, device=camera.device).reshape(3, 3).unsqueeze(0)
    # Set matrix into simulator
    camera.set_intrinsic_matrices(rs_intrinsic_matrix.clone())

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    # Simulate physics
    for _ in range(10):
        # perform rendering
        sim.step()
        # update camera
        camera.update(dt)
        # Check that matrix is correct
        torch.testing.assert_close(rs_intrinsic_matrix[0, 0, 0], camera.data.intrinsic_matrices[0, 0, 0])
        torch.testing.assert_close(rs_intrinsic_matrix[0, 1, 1], camera.data.intrinsic_matrices[0, 1, 1])
        torch.testing.assert_close(rs_intrinsic_matrix[0, 0, 2], camera.data.intrinsic_matrices[0, 0, 2])
        torch.testing.assert_close(rs_intrinsic_matrix[0, 1, 2], camera.data.intrinsic_matrices[0, 1, 2])


def test_depth_clipping(setup_sim_camera):
    """Test depth clipping.

    .. note::

        This test is the same for all camera models to enforce the same clipping behavior.
    """
    # get camera cfgs
    sim, _, dt = setup_sim_camera
    camera_cfg_zero = CameraCfg(
        prim_path="/World/CameraZero",
        offset=CameraCfg.OffsetCfg(pos=(2.5, 2.5, 6.0), rot=(-0.125, 0.362, 0.873, -0.302), convention="ros"),
        spawn=sim_utils.PinholeCameraCfg().from_intrinsic_matrix(
            focal_length=38.0,
            intrinsic_matrix=[380.08, 0.0, 467.79, 0.0, 380.08, 262.05, 0.0, 0.0, 1.0],
            height=540,
            width=960,
            clipping_range=(0.1, 10),
        ),
        height=540,
        width=960,
        data_types=["distance_to_image_plane", "distance_to_camera"],
        depth_clipping_behavior="zero",
    )
    camera_zero = Camera(camera_cfg_zero)

    camera_cfg_none = copy.deepcopy(camera_cfg_zero)
    camera_cfg_none.prim_path = "/World/CameraNone"
    camera_cfg_none.depth_clipping_behavior = "none"
    camera_none = Camera(camera_cfg_none)

    camera_cfg_max = copy.deepcopy(camera_cfg_zero)
    camera_cfg_max.prim_path = "/World/CameraMax"
    camera_cfg_max.depth_clipping_behavior = "max"
    camera_max = Camera(camera_cfg_max)

    # Play sim
    sim.reset()

    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()

    camera_zero.update(dt)
    camera_none.update(dt)
    camera_max.update(dt)

    # none clipping should contain inf values
    assert torch.isinf(camera_none.data.output["distance_to_camera"]).any()
    assert torch.isinf(camera_none.data.output["distance_to_image_plane"]).any()
    assert (
        camera_none.data.output["distance_to_camera"][~torch.isinf(camera_none.data.output["distance_to_camera"])].min()
        >= camera_cfg_zero.spawn.clipping_range[0]
    )
    assert (
        camera_none.data.output["distance_to_camera"][~torch.isinf(camera_none.data.output["distance_to_camera"])].max()
        <= camera_cfg_zero.spawn.clipping_range[1]
    )
    assert (
        camera_none.data.output["distance_to_image_plane"][
            ~torch.isinf(camera_none.data.output["distance_to_image_plane"])
        ].min()
        >= camera_cfg_zero.spawn.clipping_range[0]
    )
    assert (
        camera_none.data.output["distance_to_image_plane"][
            ~torch.isinf(camera_none.data.output["distance_to_camera"])
        ].max()
        <= camera_cfg_zero.spawn.clipping_range[1]
    )

    # zero clipping should result in zero values
    assert torch.all(
        camera_zero.data.output["distance_to_camera"][torch.isinf(camera_none.data.output["distance_to_camera"])] == 0.0
    )
    assert torch.all(
        camera_zero.data.output["distance_to_image_plane"][
            torch.isinf(camera_none.data.output["distance_to_image_plane"])
        ]
        == 0.0
    )
    assert (
        camera_zero.data.output["distance_to_camera"][camera_zero.data.output["distance_to_camera"] != 0.0].min()
        >= camera_cfg_zero.spawn.clipping_range[0]
    )
    assert camera_zero.data.output["distance_to_camera"].max() <= camera_cfg_zero.spawn.clipping_range[1]
    assert (
        camera_zero.data.output["distance_to_image_plane"][
            camera_zero.data.output["distance_to_image_plane"] != 0.0
        ].min()
        >= camera_cfg_zero.spawn.clipping_range[0]
    )
    assert camera_zero.data.output["distance_to_image_plane"].max() <= camera_cfg_zero.spawn.clipping_range[1]

    # max clipping should result in max values
    assert torch.all(
        camera_max.data.output["distance_to_camera"][torch.isinf(camera_none.data.output["distance_to_camera"])]
        == camera_cfg_zero.spawn.clipping_range[1]
    )
    assert torch.all(
        camera_max.data.output["distance_to_image_plane"][
            torch.isinf(camera_none.data.output["distance_to_image_plane"])
        ]
        == camera_cfg_zero.spawn.clipping_range[1]
    )
    assert camera_max.data.output["distance_to_camera"].min() >= camera_cfg_zero.spawn.clipping_range[0]
    assert camera_max.data.output["distance_to_camera"].max() <= camera_cfg_zero.spawn.clipping_range[1]
    assert camera_max.data.output["distance_to_image_plane"].min() >= camera_cfg_zero.spawn.clipping_range[0]
    assert camera_max.data.output["distance_to_image_plane"].max() <= camera_cfg_zero.spawn.clipping_range[1]


def test_camera_resolution_all_colorize(setup_sim_camera):
    """Test camera resolution is correctly set for all types with colorization enabled."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = [
        "rgb",
        "rgba",
        "depth",
        "distance_to_camera",
        "distance_to_image_plane",
        "normals",
        "motion_vectors",
        "semantic_segmentation",
        "instance_segmentation_fast",
        "instance_id_segmentation_fast",
    ]
    camera_cfg.colorize_instance_id_segmentation = True
    camera_cfg.colorize_instance_segmentation = True
    camera_cfg.colorize_semantic_segmentation = True
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_1c_shape = (1, camera_cfg.height, camera_cfg.width, 1)
    hw_2c_shape = (1, camera_cfg.height, camera_cfg.width, 2)
    hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 3)
    hw_4c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
    # access image data and compare shapes
    output = camera.data.output
    assert output["rgb"].shape == hw_3c_shape
    assert output["rgba"].shape == hw_4c_shape
    assert output["depth"].shape == hw_1c_shape
    assert output["distance_to_camera"].shape == hw_1c_shape
    assert output["distance_to_image_plane"].shape == hw_1c_shape
    assert output["normals"].shape == hw_3c_shape
    assert output["motion_vectors"].shape == hw_2c_shape
    assert output["semantic_segmentation"].shape == hw_4c_shape
    assert output["instance_segmentation_fast"].shape == hw_4c_shape
    assert output["instance_id_segmentation_fast"].shape == hw_4c_shape

    # access image data and compare dtype
    output = camera.data.output
    assert output["rgb"].dtype == torch.uint8
    assert output["rgba"].dtype == torch.uint8
    assert output["depth"].dtype == torch.float
    assert output["distance_to_camera"].dtype == torch.float
    assert output["distance_to_image_plane"].dtype == torch.float
    assert output["normals"].dtype == torch.float
    assert output["motion_vectors"].dtype == torch.float
    assert output["semantic_segmentation"].dtype == torch.uint8
    assert output["instance_segmentation_fast"].dtype == torch.uint8
    assert output["instance_id_segmentation_fast"].dtype == torch.uint8


def test_camera_resolution_no_colorize(setup_sim_camera):
    """Test camera resolution is correctly set for all types with no colorization enabled."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = [
        "rgb",
        "rgba",
        "depth",
        "distance_to_camera",
        "distance_to_image_plane",
        "normals",
        "motion_vectors",
        "semantic_segmentation",
        "instance_segmentation_fast",
        "instance_id_segmentation_fast",
    ]
    camera_cfg.colorize_instance_id_segmentation = False
    camera_cfg.colorize_instance_segmentation = False
    camera_cfg.colorize_semantic_segmentation = False
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()
    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(12):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_1c_shape = (1, camera_cfg.height, camera_cfg.width, 1)
    hw_2c_shape = (1, camera_cfg.height, camera_cfg.width, 2)
    hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 3)
    hw_4c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
    # access image data and compare shapes
    output = camera.data.output
    assert output["rgb"].shape == hw_3c_shape
    assert output["rgba"].shape == hw_4c_shape
    assert output["depth"].shape == hw_1c_shape
    assert output["distance_to_camera"].shape == hw_1c_shape
    assert output["distance_to_image_plane"].shape == hw_1c_shape
    assert output["normals"].shape == hw_3c_shape
    assert output["motion_vectors"].shape == hw_2c_shape
    assert output["semantic_segmentation"].shape == hw_1c_shape
    assert output["instance_segmentation_fast"].shape == hw_1c_shape
    assert output["instance_id_segmentation_fast"].shape == hw_1c_shape

    # access image data and compare dtype
    output = camera.data.output
    assert output["rgb"].dtype == torch.uint8
    assert output["rgba"].dtype == torch.uint8
    assert output["depth"].dtype == torch.float
    assert output["distance_to_camera"].dtype == torch.float
    assert output["distance_to_image_plane"].dtype == torch.float
    assert output["normals"].dtype == torch.float
    assert output["motion_vectors"].dtype == torch.float
    assert output["semantic_segmentation"].dtype == torch.int32
    assert output["instance_segmentation_fast"].dtype == torch.int32
    assert output["instance_id_segmentation_fast"].dtype == torch.int32


def test_camera_large_resolution_all_colorize(setup_sim_camera):
    """Test camera resolution is correctly set for all types with colorization enabled."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = [
        "rgb",
        "rgba",
        "depth",
        "distance_to_camera",
        "distance_to_image_plane",
        "normals",
        "motion_vectors",
        "semantic_segmentation",
        "instance_segmentation_fast",
        "instance_id_segmentation_fast",
    ]
    camera_cfg.colorize_instance_id_segmentation = True
    camera_cfg.colorize_instance_segmentation = True
    camera_cfg.colorize_semantic_segmentation = True
    camera_cfg.width = 512
    camera_cfg.height = 512
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_1c_shape = (1, camera_cfg.height, camera_cfg.width, 1)
    hw_2c_shape = (1, camera_cfg.height, camera_cfg.width, 2)
    hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 3)
    hw_4c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
    # access image data and compare shapes
    output = camera.data.output
    assert output["rgb"].shape == hw_3c_shape
    assert output["rgba"].shape == hw_4c_shape
    assert output["depth"].shape == hw_1c_shape
    assert output["distance_to_camera"].shape == hw_1c_shape
    assert output["distance_to_image_plane"].shape == hw_1c_shape
    assert output["normals"].shape == hw_3c_shape
    assert output["motion_vectors"].shape == hw_2c_shape
    assert output["semantic_segmentation"].shape == hw_4c_shape
    assert output["instance_segmentation_fast"].shape == hw_4c_shape
    assert output["instance_id_segmentation_fast"].shape == hw_4c_shape

    # access image data and compare dtype
    output = camera.data.output
    assert output["rgb"].dtype == torch.uint8
    assert output["rgba"].dtype == torch.uint8
    assert output["depth"].dtype == torch.float
    assert output["distance_to_camera"].dtype == torch.float
    assert output["distance_to_image_plane"].dtype == torch.float
    assert output["normals"].dtype == torch.float
    assert output["motion_vectors"].dtype == torch.float
    assert output["semantic_segmentation"].dtype == torch.uint8
    assert output["instance_segmentation_fast"].dtype == torch.uint8
    assert output["instance_id_segmentation_fast"].dtype == torch.uint8


def test_camera_resolution_rgb_only(setup_sim_camera):
    """Test camera resolution is correctly set for RGB only."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = ["rgb"]
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_3c_shape = (1, camera_cfg.height, camera_cfg.width, 3)
    # access image data and compare shapes
    output = camera.data.output
    assert output["rgb"].shape == hw_3c_shape
    # access image data and compare dtype
    assert output["rgb"].dtype == torch.uint8


def test_camera_resolution_rgba_only(setup_sim_camera):
    """Test camera resolution is correctly set for RGBA only."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = ["rgba"]
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_4c_shape = (1, camera_cfg.height, camera_cfg.width, 4)
    # access image data and compare shapes
    output = camera.data.output
    assert output["rgba"].shape == hw_4c_shape
    # access image data and compare dtype
    assert output["rgba"].dtype == torch.uint8


def test_camera_resolution_depth_only(setup_sim_camera):
    """Test camera resolution is correctly set for depth only."""
    # Add all types
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.data_types = ["depth"]
    # Create camera
    camera = Camera(camera_cfg)

    # Play sim
    sim.reset()

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    camera.update(dt)

    # expected sizes
    hw_1c_shape = (1, camera_cfg.height, camera_cfg.width, 1)
    # access image data and compare shapes
    output = camera.data.output
    assert output["depth"].shape == hw_1c_shape
    # access image data and compare dtype
    assert output["depth"].dtype == torch.float


def test_throughput(setup_sim_camera):
    """Checks that the single camera gets created properly with a rig."""
    # Create directory temp dir to dump the results
    file_dir = os.path.dirname(os.path.realpath(__file__))
    temp_dir = os.path.join(file_dir, "output", "camera", "throughput")
    os.makedirs(temp_dir, exist_ok=True)
    # Create replicator writer
    rep_writer = rep.BasicWriter(output_dir=temp_dir, frame_padding=3)
    # create camera
    sim, camera_cfg, dt = setup_sim_camera
    camera_cfg.height = 480
    camera_cfg.width = 640
    camera = Camera(camera_cfg)

    # Play simulator
    sim.reset()

    # Set camera pose
    eyes = torch.tensor([[2.5, 2.5, 2.5]], dtype=torch.float32, device=camera.device)
    targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device)
    camera.set_world_poses_from_view(eyes, targets)

    # Simulate for a few steps
    # note: This is a workaround to ensure that the textures are loaded.
    #   Check "Known Issues" section in the documentation for more details.
    for _ in range(5):
        sim.step()
    # Simulate physics
    for _ in range(5):
        # perform rendering
        sim.step()
        # update camera
        with Timer(f"Time taken for updating camera with shape {camera.image_shape}"):
            camera.update(dt)
        # Save images
        with Timer(f"Time taken for writing data with shape {camera.image_shape}   "):
            # Pack data back into replicator format to save them using its writer
            rep_output = {"annotators": {}}
            camera_data = convert_dict_to_backend({k: v[0] for k, v in camera.data.output.items()}, backend="numpy")
            for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()):
                if info is not None:
                    rep_output["annotators"][key] = {"render_product": {"data": data, **info}}
                else:
                    rep_output["annotators"][key] = {"render_product": {"data": data}}
            # Save images
            rep_output["trigger_outputs"] = {"on_time": camera.frame[0]}
            rep_writer.write(rep_output)
        print("----------------------------------------")
        # Check image data
        for im_data in camera.data.output.values():
            assert im_data.shape == (1, camera_cfg.height, camera_cfg.width, 1)


def test_sensor_print(setup_sim_camera):
    """Test sensor print is working correctly."""
    # Create sensor
    sim, camera_cfg, dt = setup_sim_camera
    sensor = Camera(cfg=camera_cfg)
    # Play sim
    sim.reset()
    # print info
    print(sensor)


def _populate_scene():
    """Add prims to the scene."""
    # Ground-plane
    cfg = sim_utils.GroundPlaneCfg()
    cfg.func("/World/defaultGroundPlane", cfg)
    # Lights
    cfg = sim_utils.SphereLightCfg()
    cfg.func("/World/Light/GreySphere", cfg, translation=(4.5, 3.5, 10.0))
    cfg.func("/World/Light/WhiteSphere", cfg, translation=(-4.5, 3.5, 10.0))
    # Random objects
    random.seed(0)
    for i in range(10):
        # sample random position
        position = np.random.rand(3) - np.asarray([0.05, 0.05, -1.0])
        position *= np.asarray([1.5, 1.5, 0.5])
        # create prim
        prim_type = random.choice(["Cube", "Sphere", "Cylinder"])
        prim = sim_utils.create_prim(
            f"/World/Objects/Obj_{i:02d}",
            prim_type,
            translation=position,
            scale=(0.25, 0.25, 0.25),
            semantic_label=prim_type,
        )
        # cast to geom prim
        geom_prim = getattr(UsdGeom, prim_type)(prim)
        # set random color
        color = Gf.Vec3f(random.random(), random.random(), random.random())
        geom_prim.CreateDisplayColorAttr()
        geom_prim.GetDisplayColorAttr().Set([color])
        # add rigid properties
        SingleGeometryPrim(f"/World/Objects/Obj_{i:02d}", collision=True)
        SingleRigidPrim(f"/World/Objects/Obj_{i:02d}", mass=5.0)