Depth Sensors#
Browse simulation-ready depth cameras by sensing technology and manufacturer.
Find these digital twins in the Content Browser under Isaac Sim/Sensors, organized into
manufacturer subfolders.
For more information about depth sensor modeling in Isaac Sim, see here.
Stereo and time-of-flight RealSense camera models.
Gemini and Femto depth camera digital twins.
OAK stereo and time-of-flight camera models.
Visionary time-of-flight camera digital twins.
ZED stereo camera models and variants.
RealSense#
Asset details
USD Path:
Realsense/D455/rsd455.usd
Realsense D455 (Certified)#
The Realsense D455 consists of multiple RGB and depth image sensors and a 6-axis IMU.
Features and Specification#
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
ℹ️ Note For the datasheet and full list of specifications, visit the D455 product page.
Camera Attributes
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 |
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 |
Asset details
USD Path:
Realsense/D457/rsd457.usd
Realsense D457#
The Realsense D457 is a ruggedized, IP65-rated stereo depth camera featuring a GMSL/FAKRA interface for secure, long-distance high-bandwidth connectivity. It utilizes the same optical module as the D455 and is designed for autonomous mobile robots (AMRs) and automotive infotainment.
Features and Specification#
Other Features
Dimensions: 124 mm (length) by 36 mm (depth) by 29 mm (height)
Environment: Indoor/Outdoor (IP65 Rated)
Vision Processor: Vision Processor D4 Board V5
Sensors: Global Shutter (Depth and RGB)
Depth FOV: 87° × 58° (Resolution up to 1280 × 720 at 90 fps)
RGB FOV: 90° × 65° (Resolution up to 1280 × 800 at 60 fps)
Minimum Depth Distance: 26-52 cm
Connectors: GMSL/FAKRA (Maxim Integrated), USB-C
IMU: Built-in 6-axis IMU
ℹ️ Note For the full datasheet, visit the D457 Datasheet.
Camera Attributes
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 |
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 |
Asset details
USD Path:
Realsense/D555/rsd555.usd
Realsense D555#
The Realsense D555 is a ruggedized, IP65-rated stereo depth camera designed for industrial and outdoor environments. It features the new RealSense Vision SoC V5, on-chip Power over Ethernet (PoE), and global shutter sensors for both RGB and Depth.
Features and Specification#
Other Features
Dimensions: 167 mm (length) by 42 mm (depth) by 48 mm (height)
Environment: Indoor/Outdoor (IP65 Rated)
Vision Processor: RealSense Vision SoC V5
Sensors: Global Shutter (Depth and RGB)
Depth FOV: 87° × 58° (Resolution up to 1280 × 720 at 90 fps)
RGB FOV: 90° × 65° (Resolution up to 1280 × 800 at 60 fps)
Minimum Depth Distance: 26-52 cm
Connectors: PoE (RJ45), USB-C (Power/Data), GMSL/FAKRA, External HW Sync via USB
Native ROS Support: Powered by SafeDDS (ISO 26262-certified) and interoperable with Fast DDS, enabling plug-and-play ROS 2 streaming over Ethernet without additional installation.
ℹ️ Note For the full datasheet, visit the D555 Datasheet.
Camera Attributes
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 |
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 |
Orbbec#
Asset details
USD Path:
Orbbec/Gemini 2/orbbec_gemini2_V1.0.usd
The Orbbec Gemini 2 is a depth camera based on Active Stereo IR technology.
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.
Asset details
USD Path:
Orbbec/FemtoMega/orbbec_femtomega_v1.0.usd
The Orbbec Femto Mega is a programmable multi-mode Depth and RGB camera.
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.
Asset details
USD Path:
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 |
Asset details
USD Path:
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 |
Luxonis#
Asset details
USD Path:
Luxonis/OAK4-D/oak4_d.usd
OAK4-D (Certified)#
The Luxonis OAK4-D is an RVC4-generation stereo depth camera powered by the Qualcomm QCS8550 AI SoC, featuring a 48MP RGB sensor (Sony IMX586), global-shutter stereo pair (OV9282), and 6-axis IMU with magnetometer. Built for high-performance robotics and industrial vision applications.
Features and Specification
Features and Specification#
Camera Features#
Parameter |
Camera_rgb_imx586 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
focalLength |
4.7442 |
2.4138 |
2.4138 |
2.4138 |
focusDistance |
5.0 |
1.96 |
1.96 |
1.96 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
mono |
horizontalAperture |
6.400 |
3.84 |
3.84 |
3.84 |
verticalAperture |
4.800 |
2.4 |
2.4 |
2.4 |
horizontalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
verticalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
clippingRange |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
Lens Distortion (OmniLensDistortionOpenCvPinholeAPI)#
All cameras have the OmniLensDistortionOpenCvPinholeAPI schema applied. Distortion coefficients are zero (theoretical pinhole, no distortion).
Parameter |
Camera_rgb_imx586 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
omni:lensdistortion:model |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
omni:lensdistortion:opencvPinhole:fx |
2965.12 |
804.59 |
804.59 |
804.59 |
omni:lensdistortion:opencvPinhole:fy |
2965.12 |
804.59 |
804.59 |
804.59 |
omni:lensdistortion:opencvPinhole:cx |
2000.0 |
640.0 |
640.0 |
640.0 |
omni:lensdistortion:opencvPinhole:cy |
1500.0 |
400.0 |
400.0 |
400.0 |
omni:lensdistortion:opencvPinhole:imageSize |
(4000, 3000) |
(1280, 800) |
(1280, 800) |
(1280, 800) |
omni:lensdistortion:opencvPinhole:k1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k2 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k3 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k4 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k5 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k6 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p2 |
0.0 |
0.0 |
0.0 |
0.0 |
Sensor Schema (OmniSensorAPI)#
All camera prims have the OmniSensorAPI schema applied (Isaac Sim 6.0+ sensor schema) with omni:sensor:marketName = "Luxonis_OAK4_D" and omni:sensor:tickRate = 30.0 (DepthAI default frame rate). Remaining identification fields are left at schema defaults.
Other Features#
USD stage units: meters (metersPerUnit = 1.0), Z-up — matches Isaac Sim stage conventions
Platform: Qualcomm QCS8550 AI SoC (RVC4)
IMU: ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline: 75 mm
Ideal Range: 0.6 m to 12 m
Depth Accuracy: < 1.5% at 4 m
RGB: Sony IMX586, 48MP Quad-Bayer, 4000x3000 binned output
Datasheet#
For the datasheet and full list of specifications, visit the OAK4-D product page.
Asset details
USD Path:
Luxonis/OAK4-D_Wide/oak4_d_wide.usd
OAK4-D Wide (Certified)#
The Luxonis OAK4-D Wide is the wide-FOV variant of the OAK4-D: an RVC4-generation stereo depth camera powered by the Qualcomm QCS8550 AI SoC, featuring a 48MP RGB sensor (Sony IMX586), global-shutter stereo pair (OV9282), and 6-axis IMU with magnetometer. Designed for close-range and broader coverage applications.
Features and Specification
Features and Specification#
Camera Features#
Parameter |
Camera_rgb_imx586 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
focalLength |
3.3137 |
1.6987 |
1.6987 |
1.6987 |
focusDistance |
5.0 |
1.96 |
1.96 |
1.96 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
mono |
horizontalAperture |
6.400 |
3.84 |
3.84 |
3.84 |
verticalAperture |
4.800 |
2.4 |
2.4 |
2.4 |
horizontalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
verticalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
clippingRange |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
Lens Distortion (OmniLensDistortionOpenCvPinholeAPI)#
All cameras have the OmniLensDistortionOpenCvPinholeAPI schema applied. Distortion coefficients are zero (theoretical pinhole, no distortion).
Parameter |
Camera_rgb_imx586 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
omni:lensdistortion:model |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
omni:lensdistortion:opencvPinhole:fx |
2071.06 |
566.22 |
566.22 |
566.22 |
omni:lensdistortion:opencvPinhole:fy |
2071.06 |
566.22 |
566.22 |
566.22 |
omni:lensdistortion:opencvPinhole:cx |
2000.0 |
640.0 |
640.0 |
640.0 |
omni:lensdistortion:opencvPinhole:cy |
1500.0 |
400.0 |
400.0 |
400.0 |
omni:lensdistortion:opencvPinhole:imageSize |
(4000, 3000) |
(1280, 800) |
(1280, 800) |
(1280, 800) |
omni:lensdistortion:opencvPinhole:k1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k2 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k3 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k4 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k5 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k6 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p2 |
0.0 |
0.0 |
0.0 |
0.0 |
Sensor Schema (OmniSensorAPI)#
All camera prims have the OmniSensorAPI schema applied (Isaac Sim 6.0+ sensor schema) with omni:sensor:marketName = "Luxonis_OAK4_D_Wide" and omni:sensor:tickRate = 30.0 (DepthAI default frame rate). Remaining identification fields are left at schema defaults.
Other Features#
USD stage units: meters (metersPerUnit = 1.0), Z-up — matches Isaac Sim stage conventions
Platform: Qualcomm QCS8550 AI SoC (RVC4)
IMU: ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline: 75 mm
Ideal Range: 0.2 m to 8 m
Depth Accuracy: < 2% at 3.5 m
RGB: Sony IMX586, 48MP Quad-Bayer, 4000x3000 binned output
Wide-angle optics for close-range and broader coverage
Datasheet#
For the datasheet and full list of specifications, visit the OAK4-D Wide product page.
Asset details
USD Path:
Luxonis/OAK-D_Pro_PoE/oak_d_pro_poe.usd
OAK-D Pro PoE (Certified)#
The Luxonis OAK-D Pro PoE is an RVC2-generation stereo depth camera featuring a 4K RGB sensor (Sony IMX378), global-shutter stereo pair (OV9282), active IR illumination, 9-axis IMU (BNO086), and Power over Ethernet (PoE) connectivity. Designed for robotics and industrial applications requiring accurate depth perception.
Features and Specification
Features and Specification#
Camera Features#
Parameter |
Camera_rgb_imx378 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
focalLength |
4.7626 |
2.4138 |
2.4138 |
2.4138 |
focusDistance |
5.0 |
1.96 |
1.96 |
1.96 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
mono |
horizontalAperture |
5.952 |
3.84 |
3.84 |
3.84 |
verticalAperture |
3.348 |
2.4 |
2.4 |
2.4 |
horizontalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
verticalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
clippingRange |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
Lens Distortion (OmniLensDistortionOpenCvPinholeAPI)#
All cameras have the OmniLensDistortionOpenCvPinholeAPI schema applied. Distortion coefficients are zero (theoretical pinhole, no distortion).
Parameter |
Camera_rgb_imx378 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
omni:lensdistortion:model |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
omni:lensdistortion:opencvPinhole:fx |
3072.64 |
804.59 |
804.59 |
804.59 |
omni:lensdistortion:opencvPinhole:fy |
3072.64 |
804.59 |
804.59 |
804.59 |
omni:lensdistortion:opencvPinhole:cx |
1920.0 |
640.0 |
640.0 |
640.0 |
omni:lensdistortion:opencvPinhole:cy |
1080.0 |
400.0 |
400.0 |
400.0 |
omni:lensdistortion:opencvPinhole:imageSize |
(3840, 2160) |
(1280, 800) |
(1280, 800) |
(1280, 800) |
omni:lensdistortion:opencvPinhole:k1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k2 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k3 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k4 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k5 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k6 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p2 |
0.0 |
0.0 |
0.0 |
0.0 |
Sensor Schema (OmniSensorAPI)#
All camera prims have the OmniSensorAPI schema applied (Isaac Sim 6.0+ sensor schema) with omni:sensor:marketName = "Luxonis_OAK_D_Pro_PoE" and omni:sensor:tickRate = 30.0 (DepthAI default frame rate). Remaining identification fields are left at schema defaults.
Other Features#
USD stage units: meters (metersPerUnit = 1.0), Z-up — matches Isaac Sim stage conventions
Platform: Intel Myriad X VPU (RVC2)
Dimensions: 111 x 40 x 31.3 mm
IMU: BNO086 (9-axis)
Stereo Baseline: 75 mm
Ideal Range: 0.8 m to 12 m
Depth Accuracy: < 2% at 4 m
Connectivity: Power over Ethernet (PoE)
Active IR illumination for structured light in low-light conditions
Datasheet#
For the datasheet and full list of specifications, visit the OAK-D Pro PoE product page.
Asset details
USD Path:
Luxonis/OAK-D_Pro_W_PoE/oak_d_pro_w_poe.usd
OAK-D Pro W PoE (Certified)#
The Luxonis OAK-D Pro W PoE is the wide-FOV variant of the OAK-D Pro PoE: an RVC2-generation stereo depth camera with wide-angle RGB and stereo optics, active IR illumination, 9-axis IMU (BNO086), and Power over Ethernet (PoE) connectivity. Suited for close-range robotics and applications requiring broader scene coverage.
Features and Specification
Features and Specification#
Camera Features#
Parameter |
Camera_rgb_imx378 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
focalLength |
3.5467 |
1.6987 |
1.6987 |
1.6987 |
focusDistance |
5.0 |
1.96 |
1.96 |
1.96 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
mono |
horizontalAperture |
5.952 |
3.84 |
3.84 |
3.84 |
verticalAperture |
3.348 |
2.4 |
2.4 |
2.4 |
horizontalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
verticalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
clippingRange |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
Lens Distortion (OmniLensDistortionOpenCvPinholeAPI)#
All cameras have the OmniLensDistortionOpenCvPinholeAPI schema applied. Distortion coefficients are zero (theoretical pinhole, no distortion).
Parameter |
Camera_rgb_imx378 |
Camera_left_ov9282 |
Camera_right_ov9282 |
Camera_pseudo_depth |
|---|---|---|---|---|
omni:lensdistortion:model |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
omni:lensdistortion:opencvPinhole:fx |
2288.17 |
566.22 |
566.22 |
566.22 |
omni:lensdistortion:opencvPinhole:fy |
2288.17 |
566.22 |
566.22 |
566.22 |
omni:lensdistortion:opencvPinhole:cx |
1920.0 |
640.0 |
640.0 |
640.0 |
omni:lensdistortion:opencvPinhole:cy |
1080.0 |
400.0 |
400.0 |
400.0 |
omni:lensdistortion:opencvPinhole:imageSize |
(3840, 2160) |
(1280, 800) |
(1280, 800) |
(1280, 800) |
omni:lensdistortion:opencvPinhole:k1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k2 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k3 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k4 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k5 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k6 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p1 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p2 |
0.0 |
0.0 |
0.0 |
0.0 |
Sensor Schema (OmniSensorAPI)#
All camera prims have the OmniSensorAPI schema applied (Isaac Sim 6.0+ sensor schema) with omni:sensor:marketName = "Luxonis_OAK_D_Pro_W_PoE" and omni:sensor:tickRate = 30.0 (DepthAI default frame rate). Remaining identification fields are left at schema defaults.
Other Features#
USD stage units: meters (metersPerUnit = 1.0), Z-up — matches Isaac Sim stage conventions
Platform: Intel Myriad X VPU (RVC2)
Dimensions: 111 x 40 x 31.3 mm
IMU: BNO086 (9-axis)
Stereo Baseline: 75 mm
Ideal Range: 0.2 m to 8 m
Depth Accuracy: < 2% at 4 m
Connectivity: Power over Ethernet (PoE)
Wide-angle optics for close-range and broader coverage
Active IR illumination for structured light in low-light conditions
Datasheet#
For the datasheet and full list of specifications, visit the OAK-D Pro W PoE product page.
Asset details
USD Path:
Luxonis/OAK-D_ToF/oak_d_tof.usd
OAK-D ToF (Certified)#
The Luxonis OAK-D ToF is an RVC2-generation depth camera with Time-of-Flight (3D) and color stereo cameras (OV9782). This model does not include a dedicated RGB camera, instead providing dual depth sensing through both stereo disparity and Time-of-Flight methods.
Features and Specification
Features and Specification#
Camera Features#
Parameter |
Camera_33d |
Camera_left_ov9782 |
Camera_right_ov9782 |
Camera_pseudo_depth |
Camera_pseudo_depth_tof |
|---|---|---|---|---|---|
focalLength |
3.1991 |
2.2882 |
2.2882 |
2.2882 |
3.1991 |
focusDistance |
5.0 |
1.96 |
1.96 |
1.96 |
5.0 |
fStop |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
projection |
perspective |
perspective |
perspective |
perspective |
perspective |
stereoRole |
mono |
mono |
mono |
mono |
mono |
horizontalAperture |
4.480 |
3.840 |
3.840 |
3.840 |
4.480 |
verticalAperture |
3.360 |
2.400 |
2.400 |
2.400 |
3.360 |
horizontalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
verticalApertureOffset |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
clippingRange |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
(0.01, 100.0) |
Lens Distortion (OmniLensDistortionOpenCvPinholeAPI)#
All cameras have the OmniLensDistortionOpenCvPinholeAPI schema applied. Distortion coefficients are zero (theoretical pinhole, no distortion).
Parameter |
Camera_33d |
Camera_left_ov9782 |
Camera_right_ov9782 |
Camera_pseudo_depth |
Camera_pseudo_depth_tof |
|---|---|---|---|---|---|
omni:lensdistortion:model |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
opencvPinhole |
omni:lensdistortion:opencvPinhole:fx |
457.01 |
762.72 |
762.72 |
762.72 |
457.01 |
omni:lensdistortion:opencvPinhole:fy |
457.01 |
762.72 |
762.72 |
762.72 |
457.01 |
omni:lensdistortion:opencvPinhole:cx |
320.0 |
640.0 |
640.0 |
640.0 |
320.0 |
omni:lensdistortion:opencvPinhole:cy |
240.0 |
400.0 |
400.0 |
400.0 |
240.0 |
omni:lensdistortion:opencvPinhole:imageSize |
(640, 480) |
(1280, 800) |
(1280, 800) |
(1280, 800) |
(640, 480) |
omni:lensdistortion:opencvPinhole:k1 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k2 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k3 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k4 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k5 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:k6 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p1 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
omni:lensdistortion:opencvPinhole:p2 |
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
Sensor Schema (OmniSensorAPI)#
All camera prims have the OmniSensorAPI schema applied (Isaac Sim 6.0+ sensor schema) with omni:sensor:marketName = "Luxonis_OAK_D_ToF" and omni:sensor:tickRate = 30.0 (DepthAI default frame rate). Remaining identification fields are left at schema defaults.
Other Features#
USD stage units: meters (metersPerUnit = 1.0), Z-up — matches Isaac Sim stage conventions
Platform: Intel Myriad X VPU (RVC2)
IMU: Yes
Stereo Baseline: 20 mm
ToF Baseline (simulation): 0.5 mm
Ideal Range (stereo): 0.3 m to 1 m
Ideal Range (ToF): 0.2 m to 5 m
Depth Accuracy (ToF): < 1% indoors, < 2% outdoors
Dual depth sensing: stereo disparity-based and Time-of-Flight
Datasheet#
For the datasheet and full list of specifications, visit the OAK-D ToF product page.
SICK#
Asset details
USD Path:
SICK/safeVisionary2/SICK_safeVisionary2.usd
safeVisionary2 (Certified)#
The SICK safeVisionary2 is a high resolution 3D ToF safety camera which allows to safeguard applications with performance level c. Thanks to the precise measurement data, the camera also reliably solves automation tasks.
Features and Specification
Features and Specification#
This depth sensor should be used with a resolution of 512 x 424 px (0.2 MP) and a maximum frequency of 30 Hz.
In order to obtain the depth values, use e.g. the depth_to_camera annotator described here.
Visualization of Fields#
In order to visualize the different volumes (fields) in which safety relevant features may be implemented, this model includes 3D models of these 3D volumes. To switch between different fields, use the Variant Set “Field” defined on the default prim. The meaning of these fields can be found on the product page. The most important information is summarized in the table below:
Field |
Name |
Opening angle |
Range |
|---|---|---|---|
Field00 |
None |
- |
- |
Field01 |
Protective Field, Hand |
68° × 42° |
1 m |
Field02 |
Protective Field, Arm |
68° × 42° |
1.6 m |
Field03 |
Protective Field, Leg/Body |
68° × 42° |
2 m |
Field04 |
Protective Field, Extended Range |
68° × 42° |
4 m |
Field05 |
Contour Detection Field, Hand |
68° × 58° |
1 m |
Field06 |
Contour Detection Field, Arm |
68° × 58° |
1.6 m |
Field07 |
Contour Detection Field, Leg/Body/Gap 40 cm |
68° × 58° |
2 m |
Field08 |
Contour Detection Field, Extended Range/Gap 100 cm |
68° × 58° |
4 m |
Field09 |
Warning Field |
68° × 58° |
7.37 m |
Field10 |
Field of View: Measurement Data |
68° × 58° |
16 m |
ℹ️ Note For the datasheet and full list of specifications, visit the safeVisionary2 product page.
For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including a noise model and the intensity data), use the contact function on the SICK digital twin landing page.
Asset details
USD Path:
SICK/Visionary-T_Mini/SICK_Visionary-T_Mini.usd
Visionary-T Mini (Certified)#
The SICK Visionary-T Mini is a compact 3D snapshot time‑of‑flight camera that delivers reliable data in real time. It can be used as a data streamer, for precise depth perception, and in a wide range of applications including logistics, robotics, and industrial vehicles.
Features and Specification#
This depth sensor should be used with a resolution of 512 x 424 px (0.2 MP) and a maximum frequency of 30 Hz.
In order to obtain the depth values, use e.g. the depth_to_camera annotator described here.
ℹ️ Note For the datasheet and full list of specifications, visit the Visionary-T Mini product page.
For guidance on how to use this sensor optimally in Isaac Sim or for information about a higher-fidelity sensor model (including a noise model and the intensity data), use the contact function on the SICK digital twin landing page.
Stereolabs#
Asset details
USD Path:
Stereolabs/ZED_X/ZED_X.usd
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.
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.
Asset details
USD Path:
Stereolabs/ZED_X_mini/ZED_X_Mini.usd
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.
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.