Depth Sensors#

Stereoscopic Depth Cameras#

Isaac Sim provides support for stereoscopic depth cameras via the isaacsim.sensors.camera.SingleViewDepthSensor class. This class wraps around isaacsim.sensors.camera.Camera, and includes APIs for configuring a single-view post-processing pipeline for stereoscopic depth estimation. The process by which the renderer models disparity and noise from a single camera view is described in detail here.

Standalone Python#

Check out the standalone examples located at standalone_examples/api/isaacsim.sensors.camera/camera_stereoscopic_depth.py for an example of how to use the isaacsim.sensors.camera.SingleViewDepthSensor class and the new Annotators provided in Replicator.

After running the standalone example, you should see output similar to the following:

Simulated stereo depth output True distance to image plane

Warning

When using any of the new depth AOVs, you may see the following (or similar) errors:

[Error] [rtx.postprocessing.plugin] DepthSensor: Texture sizes do not match: inColorTexDesc 1920x1080x1:11@0 inDepthTexDesc 1500x843x1:33@0
[Error] [rtx.postprocessing.plugin] DepthSensor: Failed to allocate view resources for view 1 device 0
[Error] [carb.scenerenderer-rtx.plugin] Failed to export AOV 38 to render product. The renderer did not generate the AOV texture

These errors are expected for the first frame of the depth simulation and will be corrected in a future release.