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

Camera Features

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

IMU Sensor transformation

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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.

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

Camera Features

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

IMU Sensor transformation

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

Camera Features

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

Camera Features

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

Camera Features

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

Camera Features

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.usd

Features and Specification

Camera Features

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

IMU Sensor transformation

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.