Camera and Depth Sensors#
- Isaac Sim supports camera and depth sensors, with digital twins found in the Content Browser
under
Isaac Sim/Sensors, organized into subfolders by manufacturer.
Cameras#
For more information about camera modeling in Isaac Sim, see here.
Leopard Imaging#
Hawk Stereo Camera#
The Hawk Stereo Camera (LI-AR0234CS-STEREO-GMSL2-30) from Leopard Imaging consists of two OnSemi AR0234CS RGB image sensors and a 6-axis IMU, both are simulated in the NVIDIA Isaac Sim.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>LeopardImaging>Hawk#
To create the sensor from the Content Browser: Isaac Sim>Sensors>LeopardImaging>Hawk>hawk_v1.1_nominal.usd
Features and Specification
name |
camera_left |
camera_right |
|---|---|---|
focalLength |
2.8734347820281982 |
2.8779797554016113 |
focusDistance |
0.6000000238418579 |
0.6000000238418579 |
fStop |
240.0 |
240.0 |
projection |
perspective |
perspective |
stereoRole |
left |
right |
horizontalAperture |
5.760000228881836 |
5.760000228881836 |
verticalAperture |
3.5999999046325684 |
3.5999999046325684 |
clippingRange |
(0.076, 100000) |
(0.076, 100000) |
cameraProjectionType |
fisheyePolynomial |
fisheyePolynomial |
nominalWidth |
1920.0 |
1920.0 |
nominalHeight |
1200.0 |
1200.0 |
opticalCenterX |
957.85107421875 |
954.709228515625 |
opticalCenterY |
589.5376586914062 |
588.3735961914062 |
maxFOV |
150.0 |
150.0 |
polyK0 |
5.0055230531143025e-05 |
8.962746505858377e-05 |
polyK1 |
0.0010426010703667998 |
0.001039923052303493 |
polyK2 |
9.85131620723223e-09 |
1.502240820627776e-08 |
polyK3 |
1.6426542417957712e-11 |
5.982795422271314e-12 |
polyK4 |
2.9886398802796144e-14 |
3.6818906078281075e-14 |
polyK5 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
[0.147811, -0.032313, -0.000194, -0.000035, 0.008823, 0.517913, -0.06708, 0.01695] |
[6.815791, 5.172144, -0.000246, -0.000128, 0.353267, 7.180808, 7.640372, 1.596375] |
physicalDistortionModel |
rational_polynomial |
rational_polynomial |
Other Features
Waterproof: IP65
Dimensions: 180 mm (length) by 44.33 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C
IMU to Hawk sensor (left camera) transformation in Isaac Sim
Transformation |
x |
y |
z |
|---|---|---|---|
Rotation (degrees) |
0.0 |
90 |
0.0 |
Translation (meters) |
0.0 |
-0.0947 |
0.0061 |
Note
For the datasheet and full list of specifications, visit the Hawk stereo camera product page and purchase here.
Owl Fisheye camera#
The Owl camera (LI-AR0234CS-GMSL2-OWL) from Leopard Imaging consists of a 2.3MP OnSemi AR0234CS RGB image sensor, capable of producing crisp images in low-light and bright scenes.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>LeopardImaging>Owl#
To create the sensor from the Content Browser: Isaac Sim>Sensors>LeopardImaging>Owl>owl.usd
Features and Specification
name |
camera |
|---|---|
focalLength |
1.3646053075790405 |
focusDistance |
0.6000000238418579 |
fStop |
180.0 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
5.760000228881836 |
verticalAperture |
3.5999999046325684 |
clippingRange |
(0.076, 100000) |
cameraProjectionType |
fisheyePolynomial |
nominalWidth |
1920.0 |
nominalHeight |
1200.0 |
opticalCenterX |
943.99462890625 |
opticalCenterY |
602.3110961914062 |
maxFOV |
235.0 |
polyK0 |
0.0002725422091316432 |
polyK1 |
0.0021866457536816597 |
polyK2 |
1.2340817079348199e-07 |
polyK3 |
-1.079574096785052e-09 |
polyK4 |
5.997452426180494e-13 |
polyK5 |
0.0 |
p0 |
-0.00037 |
p1 |
-0.00074 |
s0 |
-0.00058 |
s1 |
-0.00022 |
s2 |
0.00019 |
s3 |
-0.0002 |
physicalDistortionCoefficients |
[0.057225, 0.012671, -0.002978, -0.000472] |
physicalDistortionModel |
kannalaBrandt |
Other Features
Dimensions: 50 mm (length) by 37.63 mm (depth) by 25.0 mm (height)
Operating Temperature: -20C to 50C
Note
For full list of specifications, visit the product page ,and the owl cameras can be purchased here.
Sensing#
SG2-AR0233C-5200-G2A-H100F1A Camera (Certified by Sensing)#
SG2-AR0233C-5200-G2A-H100F1A from the SG2-AR0233C-5200-G2A-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG2-AR0233C-5200-G2A-H100F1A#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG2>H100F1A>SG2-AR0233C-5200-G2A-H100F1A.usd
Features and Specification
name |
SG2_AR0233C_5200_G2A_H100F1A_01 |
|---|---|
focalLength |
3.549999952316284 |
focusDistance |
270.0 |
fStop |
1.600000023841858 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
5.760000228881836 |
verticalAperture |
3.240000009536743 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
fisheyeOrthographic |
nominalWidth |
1920.0 |
nominalHeight |
1080.0 |
opticalCenterX |
998.0842895507812 |
opticalCenterY |
520.5062866210938 |
maxFOV |
100.0 |
polyK0 |
0.9293811321258545 |
polyK1 |
0.15743136405944824 |
polyK2 |
0.008131147362291813 |
polyK3 |
1.358112096786499 |
polyK4 |
0.4388065040111542 |
polyK5 |
0.035474397242069244 |
p0 |
-1.8616799934534356e-05 |
p1 |
-0.000114203299744986 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG2-AR0233C-5200-G2A-Hxxx series product page.
SG2-OX03CC-5200-GMSL2-H60YA Series Camera (Certified by Sensing)#
SG2-OX03CC-5200-GMSL2-H60YA from the SG2-OX03CC-5200-GMSL2-Hxxx Series is a megapixel high performance automotive camera module, primarily used for ADAS, HDR imaging functionalities.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG2-OX03CC-5200-GMSL2-H60YA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG2>H60YA>Camera_SG2_OX03CC_5200_GMSL2_H60YA.usd
Features and Specification
name |
Camera_SG2_OX03CC_5200_GMSL2_H60YA |
|---|---|
focalLength |
5.75 |
focusDistance |
700.0 |
fStop |
1.600000023841858 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
5.760000228881836 |
verticalAperture |
3.240000009536743 |
clippingRange |
(0.1, 1000000) |
cameraProjectionType |
fisheyeOrthographic |
nominalWidth |
1920.0 |
nominalHeight |
1080.0 |
opticalCenterX |
959.595947265625 |
opticalCenterY |
647.6140747070312 |
maxFOV |
60.0 |
polyK0 |
0.7182272672653198 |
polyK1 |
60.113136291503906 |
polyK2 |
2.598527431488037 |
polyK3 |
1.1977670192718506 |
polyK4 |
60.394771575927734 |
polyK5 |
31.610383987426758 |
p0 |
0.0004008802934549749 |
p1 |
-0.0013344850158318877 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG2-OX03CC-5200-GMSL2F-Hxxx series product page.
SG3-ISX031C-GMSL2F-H190XA (Certified by Sensing)#
SG3-ISX031C-GMSL2F-H190XA is a 3 megapixels automotive camera for automotive surround view.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG3-ISX031C-GMSL2F-H190XA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG3>H190XA>SG3S-ISX031C-GMSL2F-H190XA.usd
Features and Specification
name |
SG3S_ISX031C_GMSL2F_H190XA_01 |
|---|---|
focalLength |
1.5099999904632568 |
focusDistance |
39.0 |
fStop |
2.0 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
5.760000228881836 |
verticalAperture |
4.607999801635742 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
fisheyeEquidistant |
nominalWidth |
1920.0 |
nominalHeight |
1536.0 |
opticalCenterX |
960.6082153320312 |
opticalCenterY |
768.0 |
maxFOV |
190.0 |
polyK0 |
0.13215887546539307 |
polyK1 |
-0.031036589294672012 |
polyK2 |
-0.004391151946038008 |
polyK3 |
0.0018116832943633199 |
polyK4 |
0.0 |
polyK5 |
0.0 |
p0 |
0.0 |
p1 |
0.0 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG3-ISX031C-GMSL2F-Hxxx series product page.
SG5-IMX490C-5300-GMSL2-H110SA (Certified by Sensing)#
SG5-IMX490C-5300-GMSL2-H110SA is a 5 megapixels automotive camera for automotive surround view, ADAS and viewing fusion.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG5-IMX490C-5300-GMSL2-H110SA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG5>H100SA>SG5-IMX490C-5300-GMSL2-H110SA.usd
Features and Specification
name |
Camera_SG5_IMX490C_5300_GMSL2_H110SA |
|---|---|
focalLength |
4.260000228881836 |
focusDistance |
220.0 |
fStop |
2.799999952316284 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
8.640000343322754 |
verticalAperture |
5.579999923706055 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
fisheyeOrthographic |
nominalWidth |
2880.0 |
nominalHeight |
1860.0 |
opticalCenterX |
1442.3316650390625 |
opticalCenterY |
926.6644287109375 |
maxFOV |
110.0 |
polyK0 |
0.6106576919555664 |
polyK1 |
-0.11334560066461563 |
polyK2 |
-0.014692608267068863 |
polyK3 |
0.9237731099128723 |
polyK4 |
-0.011052233166992664 |
polyK5 |
-0.051484767347574234 |
p0 |
2.2259799152379856e-05 |
p1 |
-7.929380080895498e-05 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Waterproof: IP67
Dimensions: 30 mm (length) by 22.5 mm (depth) by 30 mm (height)
Operating Temperature: -40C to 85C
Multi camera synchronization support
Note
For the datasheet and full list of specifications, visit the SG5-IMX490C-5300-GMSL2-Hxxx series product page.
SG8S-AR0820C-5300-G2A-H30YA Camera (Certified by Sensing)#
SG8S-AR0820C-5300-G2A-H30YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H30YA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H30YA>SG8S-AR0820C-5300-G2A-H30YA.usd
Features and Specification
name |
SG8S_AR0820C_5300_G2A_H30YA_01 |
|---|---|
focalLength |
15.300000190734863 |
focusDistance |
7070.0 |
fStop |
1.600000023841858 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
8.064000129699707 |
verticalAperture |
4.535999774932861 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
pinhole |
nominalWidth |
3840.0 |
nominalHeight |
2160.0 |
opticalCenterX |
1864.240478515625 |
opticalCenterY |
986.3945922851562 |
maxFOV |
30.0 |
polyK0 |
-0.6564998626708984 |
polyK1 |
-4.156541347503662 |
polyK2 |
245.6761932373047 |
polyK3 |
-0.43839189410209656 |
polyK4 |
-4.5701212882995605 |
polyK5 |
251.74969482421875 |
p0 |
-0.000658363220281899 |
p1 |
8.901000114747148e-07 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.
SG8S-AR0820C-5300-G2A-H60SA Camera (Certified by Sensing)#
SG8S-AR0820C-5300-G2A-H60SA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H60SA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H60SA>SG8S-AR0820C-5300-G2A-H60SA.usd
Features and Specification
name |
SG8S_AR0820C_5300_G2A_H60SA_01 |
|---|---|
focalLength |
7.869999885559082 |
focusDistance |
1670.0 |
fStop |
1.7999999523162842 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
8.064000129699707 |
verticalAperture |
4.535999774932861 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
fisheyeEquidistant |
nominalWidth |
3840.0 |
nominalHeight |
2160.0 |
opticalCenterX |
1919.1090087890625 |
opticalCenterY |
1087.7274169921875 |
maxFOV |
60.0 |
polyK0 |
0.8600332140922546 |
polyK1 |
-0.30780455470085144 |
polyK2 |
-0.05103735625743866 |
polyK3 |
1.5231009721755981 |
polyK4 |
0.0005489090108312666 |
polyK5 |
-0.25151902437210083 |
p0 |
6.143400241853669e-05 |
p1 |
-4.332419848651625e-05 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.
SG8S-AR0820C-5300-G2A-H120YA Camera (Certified by Sensing)#
SG8S-AR0820C-5300-G2A-H120YA is a 4k high performance automotive grade camera that supports advanced on sensor HDR and multi-camera synchronization.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Sensing>Sensing SG8S-AR0820C-5300-G2A-H120YA#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Sensing>SG8>H120YA>SG8S-AR0820C-5300-G2A-H120YA.usd
Features and Specification
name |
SG8S_AR0820C_5300_G2A_H120YA_01 |
|---|---|
focalLength |
4.010000228881836 |
focusDistance |
480.0 |
fStop |
1.600000023841858 |
projection |
perspective |
stereoRole |
mono |
horizontalAperture |
8.064000129699707 |
verticalAperture |
4.535999774932861 |
clippingRange |
(1, 1000000) |
cameraProjectionType |
fisheyeEquidistant |
nominalWidth |
3840.0 |
nominalHeight |
2160.0 |
opticalCenterX |
1919.1090087890625 |
opticalCenterY |
1087.7274169921875 |
maxFOV |
120.0 |
polyK0 |
0.8600332140922546 |
polyK1 |
-0.30780455470085144 |
polyK2 |
-0.05103735625743866 |
polyK3 |
1.5231009721755981 |
polyK4 |
0.0005489090108312666 |
polyK5 |
-0.25151902437210083 |
p0 |
6.143400241853669e-05 |
p1 |
-4.332419848651625e-05 |
s0 |
0.0 |
s1 |
0.0 |
s2 |
0.0 |
s3 |
0.0 |
physicalDistortionCoefficients |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Other Features
Dimensions: 40 mm (length) by 23 mm (depth) by 40 mm (height)
Operating Temperature: -40C to 85C
Note
For the datasheet and full list of specifications, visit the SG8-AR820C-5300-G2A-Hxxx series cameras product page.
SICK#
Inspector83x (Certified by SICK)#
Inspector83x (Certified)#
The SICK Inspector83x is a 2D camera, which helps to rapidly solve vision applications such as quality assurance, defect detection, and sorting.
Features and Specification#
ℹ️ Note For the datasheet and full list of specifications, visit the Inspector83x product page.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>SICK>Inspector83x#
To create the sensor from the Content Browser: Isaac Sim>Sensors>SICK>Inspector83x>SICK_Inspector83x.usd
Depth Sensors#
For more information about depth sensor modeling in Isaac Sim, see here.
Intel#
Intel Realsense D455#
The Intel Realsense Depth Camera D455 consists of multiple RGB and depth image sensors and a 6-axis IMU, simulated in NVIDIA Isaac Sim.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Intel>Intel Realsense D455#
To create the sensor from the Content Browser: Isaac Sim>Sensors>intel>RealSense>rsd455.usd
Features and Specification
name |
Camera_Pseudo_Depth |
Camera_OmniVision_OV9782_Color |
Camera_OmniVision_OV9782_Left |
Camera_OmniVision_OV9782_Right |
|---|---|---|---|---|
focalLength |
1.9299999475479126 |
1.9299999475479126 |
1.9299999475479126 |
1.9299999475479126 |
focusDistance |
0.6000000238418579 |
0.5 |
0.5 |
0.5 |
fStop |
2.0 |
2.0 |
2.0 |
2.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
left |
right |
horizontalAperture |
3.8959999084472656 |
3.8959999084472656 |
3.8959999084472656 |
3.8959999084472656 |
verticalAperture |
2.453000068664551 |
2.453000068664551 |
2.453000068664551 |
2.453000068664551 |
clippingRange |
(0.01, 1000000) |
(0.01, 1000000) |
(0.01, 1000000) |
(0.01, 1000000) |
cameraProjectionType |
fisheyeEquidistant |
fisheyeEquidistant |
fisheyeEquidistant |
fisheyeEquidistant |
nominalWidth |
1936.0 |
1936.0 |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
600.37482 |
600.37482 |
maxFOV |
100.5999984741211 |
98.0 |
98.0 |
98.0 |
polyK0 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Not Applicable |
Not Applicable |
Other Features
Dimensions: 124 mm (length) by 25 mm (depth) by 29 mm (height)
IMU: Bosch BM1055
Ideal Range: 0.6m to 6m
Minimum Depth Distance at Max resolution: 52cm
Depth accuracy: under 2% at 4m
IMU to RealSense transformation in Isaac Sim
Transformation |
x |
y |
z |
|---|---|---|---|
Rotation (degrees) |
0.0 |
0.0 |
0.0 |
Translation (meters) |
0.016 |
-0.01728 |
0.0074 |
Note
For the datasheet and full list of specifications, visit the D455 product page.
Orbbec#
Orbbec Gemini 2 (Certified by Orbbec)#
The Orbbec Gemini 2 is a depth camera based on Active Stereo IR technology.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 2#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini 2>orbbec_gemini2_V1.0.usd
Features and Specification
name |
Stream_rgb |
Stream_depth |
Stream_ir_left |
Stream_ir_right |
|---|---|---|---|---|
focalLength |
2.9700000286102295 |
1.809999942779541 |
1.809999942779541 |
1.809999942779541 |
focusDistance |
80.0 |
45.0 |
45.0 |
45.0 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
left |
right |
horizontalAperture |
5.539000034332275 |
3.619999885559082 |
3.880000114440918 |
3.880000114440918 |
verticalAperture |
3.0920000076293945 |
2.440000057220459 |
2.440000057220459 |
2.440000057220459 |
clippingRange |
(0.005, 1000) |
(0.005, 1000) |
(0.005, 1000) |
(0.005, 1000) |
cameraProjectionType |
pinhole |
pinhole |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Not Applicable |
Not Applicable |
Other Features
Dimensions: 90 mm (length) by 25 mm (depth) by 30 mm (height)
IMU supported with multi camera synchronization
Ideal Range: 0.15m to 10m
Depth accuracy: under 2% at 2m
Note
For the datasheet and full list of specifications, visit the Gemini 2 product page.
Orbbec Femto Mega (Certified by Orbbec)#
The Orbbec Femto Mega is a programmable multi-mode Depth and RGB camera.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Orbbec>Orbbec FemtoMega#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>FemtoMega>orbbec_femtomega_v1.0.usd
Features and Specification
name |
camera_rgb |
camera_tof_nfov |
camera_tof_wfov |
|---|---|---|---|
focalLength |
3.25 |
1.690000057220459 |
1.690000057220459 |
focusDistance |
150.0 |
44.0 |
44.0 |
fStop |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
horizontalAperture |
5.449999809265137 |
2.5899999141693115 |
5.849999904632568 |
verticalAperture |
3.0999999046325684 |
2.1500000953674316 |
5.849999904632568 |
clippingRange |
(0.01, 1000000) |
(0.01, 1000) |
(0.01, 1000) |
cameraProjectionType |
pinhole |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Not Applicable |
Other Features
Dimensions: 115mm (length) by 145 mm (depth) by 40mm (height)
IMU supported
Ideal Range: 0.25m to 5.46m
Depth accuracy: under 11mm + 0.1% distance
Note
For the datasheet and full list of specifications, visit the Femto Mega product page.
Orbbec Gemini 335 (Certified by Orbbec)#
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 335#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini335>orbbec_gemini_335.usd
Features and Specification
name |
Stream_rgb |
Stream_ir_left |
Stream_ir_right |
|---|---|---|---|
focalLength |
2.9700000286102295 |
1.809999942779541 |
1.809999942779541 |
focusDistance |
80.0 |
45.0 |
45.0 |
fStop |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
stereoRole |
mono |
right |
left |
horizontalAperture |
5.539000034332275 |
3.880000114440918 |
3.880000114440918 |
verticalAperture |
3.0920000076293945 |
2.440000057220459 |
2.440000057220459 |
clippingRange |
(0.005, 1000) |
(0.005, 1000) |
(0.005, 1000) |
cameraProjectionType |
pinhole |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Not Applicable |
Orbbec Gemini 335L (Certified by Orbbec)#
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Orbbec>Orbbec Gemini 335L#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Orbbec>Gemini335L>orbbec_gemini_335L.usd
Features and Specification
name |
Camera_ir_left |
Camera_ir_right |
Camera_rgb |
|---|---|---|---|
focalLength |
1.809999942779541 |
1.809999942779541 |
1.809999942779541 |
focusDistance |
45.0 |
45.0 |
0.44999998807907104 |
fStop |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
horizontalAperture |
3.8399999141693115 |
3.8399999141693115 |
3.8399999141693115 |
verticalAperture |
2.4000000953674316 |
2.4000000953674316 |
2.4000000953674316 |
clippingRange |
(0.005, 100000) |
(0.005, 100000) |
(0.005, 100000) |
cameraProjectionType |
pinhole |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Not Applicable |
Stereolabs#
ZED X (Certified by Stereolabs)#
The ZED X Stereo Camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the NVIDIA Isaac Sim.
To create the camera from the menu: Create>Sensors>Camera and Depth Sensors>Stereolabs>ZED_X#
To create the sensor from the Content Browser: Isaac Sim>Sensors>Stereolabs>ZED_X>ZED_X.usd
Features and Specification
name |
CameraLeft |
CameraRight |
|---|---|---|
focalLength |
2.2079999446868896 |
2.2079999446868896 |
focusDistance |
28.0 |
28.0 |
fStop |
0.0 |
0.0 |
projection |
perspective |
perspective |
stereoRole |
left |
right |
horizontalAperture |
5.760000228881836 |
5.760000228881836 |
verticalAperture |
3.240000009536743 |
3.240000009536743 |
clippingRange |
(0.01, 100000) |
(0.01, 100000) |
cameraProjectionType |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Other Features
Dimensions: 163.4 mm (length) by 31.8 mm (depth) by 36.7 mm (height)
Operating Temperature: -20C to 55C
IMU to ZED X transformation in Isaac Sim
Transformation |
x |
y |
z |
|---|---|---|---|
Rotation (degrees) |
-90.0 |
0.0 |
0.0 |
Translation (meters) |
0.06 |
-0.0 |
0.00185 |
Note
For the datasheet and full list of specifications, visit the ZED X datasheet, for usage in Isaac Sim, see Stereolabs Documentation.
ZED X Mini (Certified by Stereolabs)#
The ZED X Mini Stereo Camera from Stereolabs consists of two 1200p 60fps RGB image sensors and a 6-axis IMU, all simulated in the NVIDIA Isaac Sim.
To create the sensor from the Content Browser: Isaac Sim>Sensors>Stereolabs>ZED_X_mini>ZED_X_Mini.usd
Features and Specification
name |
CameraRight |
CameraLeft |
|---|---|---|
focalLength |
2.2079999446868896 |
2.2079999446868896 |
focusDistance |
28.0 |
28.0 |
fStop |
0.0 |
0.0 |
projection |
perspective |
perspective |
stereoRole |
right |
left |
horizontalAperture |
5.760000228881836 |
5.760000228881836 |
verticalAperture |
3.240000009536743 |
3.240000009536743 |
clippingRange |
(0.01 100000) |
(0.01 100000) |
cameraProjectionType |
pinhole |
pinhole |
nominalWidth |
1936.0 |
1936.0 |
nominalHeight |
1216.0 |
1216.0 |
opticalCenterX |
970.94244 |
970.94244 |
opticalCenterY |
600.37482 |
600.37482 |
maxFOV |
200.0 |
200.0 |
polyK0 |
0.0 |
0.0 |
polyK1 |
0.00245 |
0.00245 |
polyK2 |
0.0 |
0.0 |
polyK3 |
0.0 |
0.0 |
polyK4 |
0.0 |
0.0 |
polyK5 |
0.0 |
0.0 |
p0 |
-0.00037 |
-0.00037 |
p1 |
-0.00074 |
-0.00074 |
s0 |
-0.00058 |
-0.00058 |
s1 |
-0.00022 |
-0.00022 |
s2 |
0.00019 |
0.00019 |
s3 |
-0.0002 |
-0.0002 |
physicalDistortionCoefficients |
Not Applicable |
Not Applicable |
physicalDistortionModel |
Not Applicable |
Not Applicable |
Other Features
Dimensions: 93.6 mm (length) by 31.8 mm (depth) by 36.7 mm (height)
Operating Temperature: -20C to 55C
IMU to ZED X Mini transformation in Isaac Sim
Transformation |
x |
y |
z |
|---|---|---|---|
Rotation (degrees) |
-90.0 |
0.0 |
0.0 |
Translation (meters) |
0.06 |
-0.0 |
0.00185 |
Note
For the datasheet and full list of specifications, visit the ZED X Mini datasheet, for usage in Isaac Sim, see Stereolabs Documentation.