Luxonis OAK Camera Parameters for Isaac Sim

1. Overview

This document provides camera parameters for integrating Luxonis OAK depth cameras with NVIDIA Isaac Sim. Each camera model has its own section with nominal spec-sheet parameters and computed USD parameters.

Download USD files

Isaac Sim Version: 5.1+

Reference Documentation:

Camera Generations

This document covers two generations of Luxonis OAK depth cameras:

Generation	Platform	Processor	Camera Models
RVC2	Myriad X (Intel)	VPU	OAK-D Pro PoE, OAK-D Pro W PoE, OAK-D ToF
RVC4	QCS8550 (Qualcomm)	AI SoC	OAK4-D, OAK4-D Wide

The RVC4-based OAK4-D offers improved depth accuracy (~25% better at close range), a higher-resolution RGB sensor (IMX586), and significantly more onboard compute. All camera parameters are computed theoretically from nominal HFOV spec-sheet values using the formula fx = width / (2 × tan(HFOV / 2)), with centered principal points and symmetric left/right stereo cameras. To customize parameters for a specific device, see Section 3.2: Device-Specific Calibration.

Supported Camera Models

Download links

Model	Generation	RGB HFOV	Stereo HFOV	USD Asset
OAK-D Pro PoE	RVC2	~64°	~77°	Download
OAK-D Pro W PoE	RVC2	~80°	~97°	Download
OAK4-D	RVC4	~68°	~77°	Download
OAK4-D Wide	RVC4	~88°	~97°	Download
OAK-D ToF	RVC2	~70° (ToF)	~80°	Download

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2. Sensor Specifications

OAK-D Pro (RVC2) variants use the same image sensors — the difference between standard and wide FOV models is in the optics (lenses), not the sensors. The OAK4-D (RVC4) uses a different RGB sensor (IMX586) but shares the same OV9282 stereo cameras. The OAK-D ToF (RVC2) uses a unique configuration: color OV9782 stereo cameras (no RGB camera) paired with a 33D Time-of-Flight depth sensor.

2.1 Sony IMX378 (RGB Camera)

Property	Value
Sensor Type	CMOS, Rolling Shutter
Native Resolution	4056 x 3040 (12.3 MP)
Used Resolution	3840 x 2160 (4K)
Pixel Size	1.55 µm
Optical Format	1/2.3"

2.2 OmniVision OV9282 (Stereo Cameras)

Used in both OAK-D Pro (RVC2) and OAK4-D (RVC4) generations.

Property	Value
Sensor Type	CMOS, Global Shutter
Resolution	1280 x 800
Pixel Size	3.0 µm
Optical Format	1/4"
Stereo Baseline	75 mm

2.3 Sony IMX586 (RGB Camera - OAK4-D)

Property	Value
Sensor Type	CMOS, Rolling Shutter (Quad-Bayer)
Native Resolution	8000 x 6000 (48 MP)
Used Resolution	4000 x 3000 (12 MP, Quad-Bayer binned)
Native Pixel Size	0.8 µm
Effective Pixel Size (12MP)	1.6 µm
Optical Format	1/2"

Effective pixel size at 12MP: The IMX586 has 0.8 µm native pixels at 8000x6000. At 4000x3000 output (2x2 Quad-Bayer binned), four sub-pixels are merged into one, giving an effective pixel size of 1.6 µm (= 6.4 mm sensor width / 4000 pixels). This is the calibrated output resolution used by the OAK4-D.

Quad-Bayer technology: The IMX586 uses a Quad-Bayer color filter array where four sub-pixels share the same color filter. This enables 48 MP capture in good light and 12 MP (4000x3000) binned mode as the standard output resolution.

2.4 OmniVision OV9782 (Stereo Cameras - OAK-D ToF)

Color variant of OV9282 — same resolution and pixel size, adds Bayer color filter array.

Property	Value
Sensor Type	CMOS, Global Shutter
Resolution	1280 x 800
Pixel Size	3.0 µm
Optical Format	1/4"
Notes	Color variant of OV9282 (same pixel size/resolution, adds Bayer CFA)

2.5 33D ToF Sensor (OAK-D ToF)

Property	Value
Sensor Type	ToF (Time-of-Flight), Global Shutter
Resolution	640 x 480
Pixel Size	7 µm
Optical Format	1/3.2"
VCSEL Wavelength	940 nm
Depth Range	20 cm - 5 m
Depth Accuracy	< 1% indoors, < 2% outdoors

3. OpenCV to USD Parameter Conversion

Following the Isaac Sim Camera Documentation, camera parameters are converted from pixel-based coordinates to USD physical units (millimeters).

3.1 Conversion Formulas

Theoretical intrinsics from spec-sheet HFOV:

fx = width / (2 × tan(HFOV / 2))
fy = fx                              (square pixels assumed)
cx = width / 2                       (centered principal point)
cy = height / 2                      (centered principal point)

Pixel-to-USD conversion:

focal_length (mm) = pixel_size (µm) × fx (pixels) × 1e-3
horizontal_aperture (mm) = pixel_size (µm) × width (pixels) × 1e-3
vertical_aperture (mm) = pixel_size (µm) × height (pixels) × 1e-3
horizontal_aperture_offset (mm) = pixel_size (µm) × (cx - width/2) × 1e-3
vertical_aperture_offset (mm) = pixel_size (µm) × (cy - height/2) × 1e-3

Where:

fx, fy = Focal length (pixels) — from HFOV spec or OpenCV calibration
cx, cy = Principal point (pixels) — centered by default, or from calibration
width, height = Image resolution (pixels)
pixel_size = Physical pixel size from sensor datasheet (µm)

Note: The USD assets ship with theoretical defaults (centered principal points, symmetric left/right stereo, zero aperture offsets). These nominal values are representative of the product line. For device-specific accuracy, override with real calibration data — see Section 3.3.

3.2 Sensor Pixel Sizes

Sensor	Pixel Size	Used In
Sony IMX378	1.55 µm	RGB Camera (OAK-D Pro)
Sony IMX586	0.8 µm (native) / 1.6 µm (12MP binned effective)	RGB Camera (OAK4-D)
OmniVision OV9282	3.0 µm	Stereo Cameras (all models)
OmniVision OV9782	3.0 µm	Stereo Cameras (OAK-D ToF)
33D ToF Sensor	7 µm	ToF Depth (OAK-D ToF)

3.3 Device-Specific Calibration with OAK Viewer

The USD assets ship with nominal theoretical parameters suitable for general use. To customize the camera parameters for a specific OAK device:

Export calibration data: Open OAK Viewer and connect your OAK device. Export the calibration JSON file, which contains the OpenCV intrinsic matrices (fx, fy, cx, cy) and distortion coefficients for each camera on the device.
Extract intrinsics: From the exported JSON, locate the intrinsicMatrix for each camera. The matrix format is [[fx, 0, cx], [0, fy, cy], [0, 0, 1]].

Apply conversion formulas: Use the formulas from Section 3.1 to convert the device-specific OpenCV intrinsics to USD parameters:

focal_length (mm) = pixel_size (µm) × ((fx + fy) / 2) × 1e-3
horizontal_aperture_offset (mm) = pixel_size (µm) × (cx - width/2) × 1e-3
vertical_aperture_offset (mm) = pixel_size (µm) × (cy - height/2) × 1e-3

Update USD parameters: Override the focalLength, horizontalApertureOffset, and verticalApertureOffset on each Camera prim. The horizontalAperture and verticalAperture values do not change (they depend on sensor pixel size and resolution, which are constant across units).
Update depth simulation: Set focalLengthPixel on the depth sensor RenderProduct to the device-specific fx value (rounded).

Note: Real device calibration will introduce non-zero aperture offsets (principal point not exactly centered), slight differences between left and right stereo intrinsics, and per-device focal length variation. The depth sensor simulation parameters (baseline, noise, disparity limits) are model-level characteristics and should not be changed per-device.

4. Generating Depth Annotations

4.1 Ground Truth Depth (No Noise)

To generate perfect ground truth depth without noise, use the standard replicator annotators like distance_to_camera and distance_to_image_plane.

Available Ground Truth Annotators:

Annotator	Description
`distance_to_image_plane`	Perpendicular Z-depth from camera plane
`distance_to_camera`	Euclidean distance from camera optical center

4.2 Simulated Depth with Noise

Different results changing Max Distance and Confidence level.

To generate realistic noisy depth matching OAK stereo sensor characteristics, use the DepthSensorDistance annotator with the OmniSensorDepthSensorSingleViewAPI.

Follow instructions here

4.3 USD Asset Structure

Each OAK USD asset includes a pre-configured TemplateRenderProducts scope with the depth sensor RenderProduct:

OAK-D Pro / OAK4-D (single depth sensor):

Root (Xform)
└── oak_d_pro (Xform)
    ├── Camera_pseudo_depth (Camera)
    ├── Camera_rgb_imx378 (Camera)
    ├── Camera_left_ov9282 (Camera)
    ├── Camera_right_ov9282 (Camera)
    └── TemplateRenderProducts (Scope)
        └── Camera_pseudo_depth_render_product (RenderProduct)
            └── apiSchemas = ["OmniSensorDepthSensorSingleViewAPI"]

OAK-D ToF (dual depth sensors — stereo + ToF):

Root (Xform)
└── oak_d_tof (Xform)
    ├── Camera_pseudo_depth_stereo (Camera)
    ├── Camera_pseudo_depth_tof (Camera)
    ├── Camera_tof_33d (Camera)
    ├── Camera_left_ov9782 (Camera)
    ├── Camera_right_ov9782 (Camera)
    └── TemplateRenderProducts (Scope)
        ├── Camera_pseudo_depth_stereo_render_product (RenderProduct)
        │   └── apiSchemas = ["OmniSensorDepthSensorSingleViewAPI"]
        └── Camera_pseudo_depth_tof_render_product (RenderProduct)
            └── apiSchemas = ["OmniSensorDepthSensorSingleViewAPI"]

4.4 Comparison of Annotators

Annotator	Output Type	Use Case
`distance_to_image_plane`	Ground truth Z-depth	Training data, evaluation baseline
`distance_to_camera`	Ground truth radial distance	Point cloud generation
`DepthSensorDistance`	Simulated noisy depth	Realistic sensor simulation, domain randomization

4.5 Camera_Pseudo_Depth

The Camera_pseudo_depth is a virtual camera used by Isaac Sim's depth sensor simulation pipeline. It uses the Left Stereo camera parameters for each device. The OAK-D ToF has two pseudo_depth cameras: Camera_pseudo_depth_stereo uses the left OV9782 intrinsics for stereo disparity-based depth, and Camera_pseudo_depth_tof uses the 33D ToF intrinsics for time-of-flight depth.

5. Camera Models

Following the format from Isaac Sim Camera and Depth Sensor Assets

5.1 OAK-D Pro PoE

Quick Start

Drag and drop USD file into the Stage

Device Information

Property	Value
Manufacturer	Luxonis
Model	OAK-D Pro PoE (Fixed Focus)
RGB HFOV	~64°
Stereo HFOV	~77°
Dimensions	111 x 40 x 31.3 mm
IMU	BNO086 9-axis
Ideal Range	80cm - 12m
Depth Accuracy	under 2% at 4m

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX378)

Theoretical Intrinsics (from HFOV = 64°):

fx = 3840 / (2 × tan(32°)) = 3072.64 pixels
fy = 3072.64 pixels (square pixels assumed)
cx = 1920.00 pixels (centered)
cy = 1080.00 pixels (centered)
width = 3840 pixels
height = 2160 pixels
pixel_size = 1.55 µm

USD Parameter Calculation:

focal_length = 1.55 × 3072.64 × 1e-3
             = 4.7626 mm

horizontal_aperture = 1.55 × 3840 × 1e-3
                    = 5.952 mm

vertical_aperture = 1.55 × 2160 × 1e-3
                  = 3.348 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(5.952 / (2 × 4.7626))
     = 2 × atan(0.6249)
     = 2 × 32.0°
     = 64.0° ✓

Stereo Cameras (OV9282) — Left & Right Identical

Theoretical Intrinsics (from HFOV = 77°):

fx = 1280 / (2 × tan(38.5°)) = 804.59 pixels
fy = 804.59 pixels (square pixels assumed)
cx = 640.00 pixels (centered)
cy = 400.00 pixels (centered)
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameter Calculation:

focal_length = 3.0 × 804.59 × 1e-3
             = 2.4138 mm

horizontal_aperture = 3.0 × 1280 × 1e-3
                    = 3.84 mm

vertical_aperture = 3.0 × 800 × 1e-3
                  = 2.40 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(3.84 / (2 × 2.4138))
     = 2 × atan(0.7954)
     = 2 × 38.5°
     = 77.0° ✓

Camera Features

Parameter	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282
name	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282
focalLength	4.7626	2.4138	2.4138
focusDistance	500.0	196.0	196.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	left	right
horizontalAperture	5.952	3.84	3.84
verticalAperture	3.348	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	3840	1280	1280
nominalHeight	2160	800	800
opticalCenterX	1920.00	640.00	640.00
opticalCenterY	1080.00	400.00	400.00
maxFOV	82.0	89.5	89.5
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

Camera_Pseudo_Depth Configuration

Parameter	Value	Source
focalLength	2.4138	Stereo (OV9282)
horizontalAperture	3.84	Stereo (OV9282)
verticalAperture	2.4	Stereo (OV9282)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	196.0	OV9282 fixed focus
clippingRange	(0.01, 100.0)	Standard range

Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	75.0	Stereo baseline (mm)
focalLengthPixel	805.0	Stereo focal length (pixels) — from HFOV = 77°
sensorSizePixel	1280.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode (191.0 for extended)
minDistance	0.6	Minimum depth (m)
maxDistance	12.0	Maximum depth (m)
noiseMean	0.25	Disparity bias (pixels)
noiseSigma	0.2	Disparity noise std dev (pixels)
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note on Distortion Coefficients

The distortion parameters (polyK0-polyK5, p0, p1, s0-s3) are set to default and physicalDistortionModel is marked as "Not Applicable" following configuration of current supported devices.

5.2 OAK-D Pro W PoE (Wide FOV)

Quick Start

Drag and drop USD file into the Stage

Device Information

Property	Value
Manufacturer	Luxonis
Model	OAK-D Pro W PoE (Fixed Focus, Wide FOV)
RGB HFOV	~80°
Stereo HFOV	~97°
Dimensions	111 x 40 x 31.3 mm
IMU	BNO086 9-axis
Ideal Range	20cm - 8m
Depth Accuracy	under 2% at 4m

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX378)

Theoretical Intrinsics (from HFOV = 80°):

fx = 3840 / (2 × tan(40°)) = 2288.17 pixels
fy = 2288.17 pixels (square pixels assumed)
cx = 1920.00 pixels (centered)
cy = 1080.00 pixels (centered)
width = 3840 pixels
height = 2160 pixels
pixel_size = 1.55 µm

USD Parameter Calculation:

focal_length = 1.55 × 2288.17 × 1e-3
             = 3.5467 mm

horizontal_aperture = 1.55 × 3840 × 1e-3
                    = 5.952 mm

vertical_aperture = 1.55 × 2160 × 1e-3
                  = 3.348 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(5.952 / (2 × 3.5467))
     = 2 × atan(0.8391)
     = 2 × 40.0°
     = 80.0° ✓

Stereo Cameras (OV9282) — Left & Right Identical

Theoretical Intrinsics (from HFOV = 97°):

fx = 1280 / (2 × tan(48.5°)) = 566.22 pixels
fy = 566.22 pixels (square pixels assumed)
cx = 640.00 pixels (centered)
cy = 400.00 pixels (centered)
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameter Calculation:

focal_length = 3.0 × 566.22 × 1e-3
             = 1.6987 mm

horizontal_aperture = 3.0 × 1280 × 1e-3
                    = 3.84 mm

vertical_aperture = 3.0 × 800 × 1e-3
                  = 2.40 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(3.84 / (2 × 1.6987))
     = 2 × atan(1.1302)
     = 2 × 48.5°
     = 97.0° ✓

Camera Features

Parameter	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282
name	Camera_rgb_imx378	Camera_left_ov9282	Camera_right_ov9282
focalLength	3.5467	1.6987	1.6987
focusDistance	500.0	196.0	196.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	left	right
horizontalAperture	5.952	3.84	3.84
verticalAperture	3.348	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	3840	1280	1280
nominalHeight	2160	800	800
opticalCenterX	1920.00	640.00	640.00
opticalCenterY	1080.00	400.00	400.00
maxFOV	108.0	127.0	127.0
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

Camera_Pseudo_Depth Configuration

Parameter	Value	Source
focalLength	1.6987	Stereo (OV9282)
horizontalAperture	3.84	Stereo (OV9282)
verticalAperture	2.4	Stereo (OV9282)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	196.0	OV9282 fixed focus
clippingRange	(0.01, 100.0)	Standard range

Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	75.0	Stereo baseline (mm)
focalLengthPixel	566.0	Stereo focal length (pixels) — from HFOV = 97°
sensorSizePixel	1280.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode (191.0 for extended)
minDistance	0.2	Minimum depth (m) - closer min due to wider FOV
maxDistance	8.0	Maximum depth (m) - shorter max range
noiseMean	0.25	Disparity bias (pixels)
noiseSigma	0.2	Disparity noise std dev (pixels)
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note: Min/max distance estimates based on disparity formula:

minDistance = baseline × focalLength / maxDisparity = 75 × 566 / 95 / 1000 ≈ 0.45m
Wider FOV allows closer operation in practice (~0.2m)

Note on Distortion Coefficients

The distortion parameters (polyK0-polyK5, p0, p1, s0-s3) are set to default and physicalDistortionModel is marked as "Not Applicable" following configuration of current supported devices.

5.3 OAK4-D (RVC4)

Quick Start

Drag and drop USD file into the Stage

Device Information

Property	Value
Manufacturer	Luxonis
Model	OAK4-D
Platform	RVC4 (Qualcomm QCS8550)
RGB Sensor	Sony IMX586 (48 MP, Quad-Bayer)
Stereo Sensor	OmniVision OV9282
RGB HFOV	~68°
Stereo HFOV	~77°
IMU	ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline	75 mm
Ideal Range	60cm - 12m
Depth Accuracy	under 1.5% at 4m

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX586)

Theoretical Intrinsics (from HFOV = 68°):

fx = 4000 / (2 × tan(34°)) = 2965.12 pixels
fy = 2965.12 pixels (square pixels assumed)
cx = 2000.00 pixels (centered)
cy = 1500.00 pixels (centered)
width = 4000 pixels
height = 3000 pixels
pixel_size = 1.6 µm (effective, Quad-Bayer 2x2 binned)

USD Parameter Calculation:

focal_length = 1.6 × 2965.12 × 1e-3
             = 4.7442 mm

horizontal_aperture = 1.6 × 4000 × 1e-3
                    = 6.400 mm

vertical_aperture = 1.6 × 3000 × 1e-3
                  = 4.800 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(6.400 / (2 × 4.7442))
     = 2 × atan(0.6745)
     = 2 × 34.0°
     = 68.0° ✓

Stereo Cameras (OV9282) — Left & Right Identical

Theoretical Intrinsics (from HFOV = 77°):

fx = 1280 / (2 × tan(38.5°)) = 804.59 pixels
fy = 804.59 pixels (square pixels assumed)
cx = 640.00 pixels (centered)
cy = 400.00 pixels (centered)
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameter Calculation:

focal_length = 3.0 × 804.59 × 1e-3
             = 2.4138 mm

horizontal_aperture = 3.0 × 1280 × 1e-3
                    = 3.84 mm

vertical_aperture = 3.0 × 800 × 1e-3
                  = 2.40 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(3.84 / (2 × 2.4138))
     = 2 × atan(0.7954)
     = 2 × 38.5°
     = 77.0° ✓

Camera Features

Parameter	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282
name	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282
focalLength	4.7442	2.4138	2.4138
focusDistance	500.0	196.0	196.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	left	right
horizontalAperture	6.400	3.84	3.84
verticalAperture	4.800	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	4000	1280	1280
nominalHeight	3000	800	800
opticalCenterX	2000.00	640.00	640.00
opticalCenterY	1500.00	400.00	400.00
maxFOV	80.3	86.3	86.3
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

Camera_Pseudo_Depth Configuration

Parameter	Value	Source
focalLength	2.4138	Stereo (OV9282)
horizontalAperture	3.84	Stereo (OV9282)
verticalAperture	2.4	Stereo (OV9282)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	196.0	OV9282 fixed focus
clippingRange	(0.01, 100.0)	Standard range

Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	75.0	Stereo baseline (mm)
focalLengthPixel	805.0	Stereo focal length (pixels) — from HFOV = 77°
sensorSizePixel	1280.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode (191.0 for extended)
minDistance	0.6	Minimum depth (m) — standard mode
maxDistance	12.0	Maximum depth (m)
noiseMean	0.25	Disparity bias (pixels)
noiseSigma	0.2	Disparity noise std dev (pixels)
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note: Min distance estimates based on disparity formula:

Standard mode: minDistance = baseline × focalLength / maxDisparity = 75 × 805 / 95 / 1000 ≈ 0.64m (rounded to 0.6m)
Extended mode: minDistance = 75 × 805 / 191 / 1000 ≈ 0.32m (~0.3m)

Note on Distortion Coefficients

The distortion parameters (polyK0-polyK5, p0, p1, s0-s3) are set to default and physicalDistortionModel is marked as "Not Applicable" following configuration of current supported devices.

5.4 OAK4-D Wide (RVC4)

Device Information

Property	Value
Manufacturer	Luxonis
Model	OAK4-D Wide FOV
Platform	RVC4 (Qualcomm QCS8550)
RGB Sensor	Sony IMX586 (48 MP, Quad-Bayer)
Stereo Sensor	OmniVision OV9282
RGB HFOV	~88° (pinhole equivalent)
Stereo HFOV	~97° (pinhole equivalent)
IMU	ICM-42688-P (6-axis) + AK09919C (magnetometer)
Stereo Baseline	75 mm
Ideal Range	20cm - 8m
Depth Accuracy	< 2% at 3.5m (estimated from Wide FOV OAK data)

Note on spec-sheet FOV vs pinhole FOV: The Luxonis spec sheet lists HFOV = 127° (stereo) and HFOV = 95° (RGB). These values include barrel distortion from the wide-angle optics. Isaac Sim uses a pinhole camera model where distortion is not applied (physicalDistortionModel = "Not Applicable"), so the pinhole-equivalent HFOV is narrower. The values below are derived from the OAK-D Pro W PoE real calibration (same wide OV9282 stereo optics, HFOV ≈ 97°) and from the VFOV spec (RGB VFOV = 72° → pinhole HFOV ≈ 88°). To obtain exact values for your device, export calibration data using OAK Viewer.

Quick Start

Drag and drop USD file into the Stage

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX586)

Theoretical Intrinsics (from HFOV = 88°):

fx = 4000 / (2 × tan(44°)) = 2071.06 pixels
fy = 2071.06 pixels (square pixels assumed)
cx = 2000.00 pixels (centered)
cy = 1500.00 pixels (centered)
width = 4000 pixels
height = 3000 pixels
pixel_size = 1.6 µm (effective, Quad-Bayer 2x2 binned)

USD Parameter Calculation:

focal_length = 1.6 × 2071.06 × 1e-3
             = 3.3137 mm

horizontal_aperture = 1.6 × 4000 × 1e-3
                    = 6.400 mm

vertical_aperture = 1.6 × 3000 × 1e-3
                  = 4.800 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(6.400 / (2 × 3.3137))
     = 2 × atan(0.9655)
     = 2 × 44.0°
     = 88.0° ✓

Stereo Cameras (OV9282) — Left & Right Identical

Theoretical Intrinsics (from HFOV = 97°):

fx = 1280 / (2 × tan(48.5°)) = 566.22 pixels
fy = 566.22 pixels (square pixels assumed)
cx = 640.00 pixels (centered)
cy = 400.00 pixels (centered)
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameter Calculation:

focal_length = 3.0 × 566.22 × 1e-3
             = 1.6987 mm

horizontal_aperture = 3.0 × 1280 × 1e-3
                    = 3.84 mm

vertical_aperture = 3.0 × 800 × 1e-3
                  = 2.40 mm

horizontal_aperture_offset = 0.0 mm (centered)

vertical_aperture_offset = 0.0 mm (centered)

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(3.84 / (2 × 1.6987))
     = 2 × atan(1.1302)
     = 2 × 48.5°
     = 97.0° ✓

Camera Features

Parameter	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282
name	Camera_rgb_imx586	Camera_left_ov9282	Camera_right_ov9282
focalLength	3.3137	1.6987	1.6987
focusDistance	500.0	196.0	196.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	left	right
horizontalAperture	6.400	3.84	3.84
verticalAperture	4.800	2.4	2.4
horizontalApertureOffset	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	4000	1280	1280
nominalHeight	3000	800	800
opticalCenterX	2000.00	640.00	640.00
opticalCenterY	1500.00	400.00	400.00
maxFOV	100.7	106.2	106.2
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

Camera_Pseudo_Depth Configuration

Parameter	Value	Source
focalLength	1.6987	Stereo (OV9282)
horizontalAperture	3.84	Stereo (OV9282)
verticalAperture	2.4	Stereo (OV9282)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	196.0	OV9282 fixed focus
clippingRange	(0.01, 100.0)	Standard range

Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	75.0	Stereo baseline (mm)
focalLengthPixel	566.0	Stereo focal length (pixels) — from HFOV = 97°
sensorSizePixel	1280.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode (191.0 for extended)
minDistance	0.2	Minimum depth (m) — closer min due to wider FOV
maxDistance	8.0	Maximum depth (m) — shorter max range
noiseMean	0.25	Disparity bias (pixels)
noiseSigma	0.2	Disparity noise std dev (pixels)
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note: Min/max distance estimates based on disparity formula:

minDistance = baseline × focalLength / maxDisparity = 75 × 566 / 95 / 1000 ≈ 0.45m
Wider FOV allows closer operation in practice (~0.2m)

Note on Distortion Coefficients

The distortion parameters (polyK0-polyK5, p0, p1, s0-s3) are set to default and physicalDistortionModel is marked as "Not Applicable" following configuration of current supported devices.

5.5 OAK-D ToF (RVC2)

Device Information

Property	Value
Manufacturer	Luxonis
Model	OAK-D ToF
Platform	RVC2 (Intel Myriad X)
ToF Sensor	33D (640x480, ToF)
Stereo Sensor	OmniVision OV9782 (color)
RGB Camera	None
ToF HFOV	~70°
Stereo HFOV	~80°
IMU	Yes
Stereo Baseline	20 mm
ToF Baseline (sim)	0.5 mm
Ideal Range (stereo)	30cm - 1m
Ideal Range (ToF)	20cm - 5m
Depth Accuracy (ToF)	< 1% indoors, < 2% outdoors

OpenCV-Equivalent Theoretical Intrinsics & USD Conversion

ToF Camera (33D)

Theoretical Intrinsics (from HFOV = 70°):

fx = 640 / (2 × tan(35°)) = 457.01 pixels
fy = 457.01 pixels (square pixels assumed)
cx = 320.00 pixels (centered)
cy = 240.00 pixels (centered)
width = 640 pixels
height = 480 pixels
pixel_size = 7 µm

USD Parameter Calculation:

focal_length = 7 × ((457.01 + 457.01) / 2) × 1e-3
             = 7 × 457.01 × 0.001
             = 3.1991 mm

horizontal_aperture = 7 × 640 × 1e-3
                    = 4.480 mm

vertical_aperture = 7 × 480 × 1e-3
                  = 3.360 mm

horizontal_aperture_offset = 7 × (320.00 - 640/2) × 1e-3
                           = 7 × 0 × 0.001
                           = 0.0 mm

vertical_aperture_offset = 7 × (240.00 - 480/2) × 1e-3
                         = 7 × 0 × 0.001
                         = 0.0 mm

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(4.480 / (2 × 3.1991))
     = 2 × atan(0.7002)
     = 2 × 34.98°
     = 70.0° ✓

Left Stereo Camera (OV9782)

Theoretical Intrinsics (from HFOV = 80°):

fx = 1280 / (2 × tan(40°)) = 762.72 pixels
fy = 762.72 pixels (square pixels assumed)
cx = 640.00 pixels (centered)
cy = 400.00 pixels (centered)
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameter Calculation:

focal_length = 3.0 × ((762.72 + 762.72) / 2) × 1e-3
             = 3.0 × 762.72 × 0.001
             = 2.2882 mm

horizontal_aperture = 3.0 × 1280 × 1e-3
                    = 3.840 mm

vertical_aperture = 3.0 × 800 × 1e-3
                  = 2.400 mm

horizontal_aperture_offset = 3.0 × (640.00 - 1280/2) × 1e-3
                           = 3.0 × 0 × 0.001
                           = 0.0 mm

vertical_aperture_offset = 3.0 × (400.00 - 800/2) × 1e-3
                         = 3.0 × 0 × 0.001
                         = 0.0 mm

HFOV Verification:

HFOV = 2 × atan(h_aperture / (2 × focal_length))
     = 2 × atan(3.840 / (2 × 2.2882))
     = 2 × atan(0.8391)
     = 2 × 40.00°
     = 80.0° ✓

Right Stereo Camera (OV9782)

Identical to Left Stereo Camera — theoretical parameters assume centered optics with no per-device variance.

Theoretical Intrinsics:

fx = 762.72 pixels
fy = 762.72 pixels
cx = 640.00 pixels
cy = 400.00 pixels
width = 1280 pixels
height = 800 pixels
pixel_size = 3.0 µm

USD Parameters: Same as Left Stereo Camera (focal_length = 2.2882 mm, h_aperture = 3.840 mm, v_aperture = 2.400 mm, offsets = 0.0 mm).

Camera Features

Parameter	Camera_tof_33d	Camera_left_ov9782	Camera_right_ov9782
name	Camera_tof_33d	Camera_left_ov9782	Camera_right_ov9782
focalLength	3.1991	2.2882	2.2882
focusDistance	500.0	196.0	196.0
fStop	0.0	0.0	0.0
projection	perspective	perspective	perspective
stereoRole	mono	left	right
horizontalAperture	4.480	3.840	3.840
verticalAperture	3.360	2.400	2.400
horizontalApertureOffset	0.0	0.0	0.0
verticalApertureOffset	0.0	0.0	0.0
clippingRange	(0.01, 100.0)	(0.01, 100.0)	(0.01, 100.0)
cameraProjectionType	pinhole	pinhole	pinhole
nominalWidth	640	1280	1280
nominalHeight	480	800	800
opticalCenterX	320.00	640.00	640.00
opticalCenterY	240.00	400.00	400.00
maxFOV	70.0	80.0	80.0
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

Camera_Pseudo_Depth_Stereo Configuration

Parameter	Value	Source
focalLength	2.2882	Stereo (OV9782)
horizontalAperture	3.840	Stereo (OV9782)
verticalAperture	2.400	Stereo (OV9782)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	196.0	OV9782 fixed focus
clippingRange	(0.01, 100.0)	Standard range

Camera_Pseudo_Depth_ToF Configuration

Parameter	Value	Source
focalLength	3.1991	ToF sensor (33D)
horizontalAperture	4.480	ToF sensor (33D)
verticalAperture	3.360	ToF sensor (33D)
horizontalApertureOffset	0.0	Centered (theoretical)
verticalApertureOffset	0.0	Centered (theoretical)
focusDistance	500.0	33D ToF
clippingRange	(0.01, 100.0)	Standard range

Stereo Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	20.0	Stereo baseline (mm)
focalLengthPixel	763.0	Stereo focal length (pixels)
sensorSizePixel	1280.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode
minDistance	0.2	Minimum depth (m) — spec: MinZ 20cm at 800P
maxDistance	5.0	Maximum depth (m)
noiseMean	0.25	Disparity bias (pixels)
noiseSigma	0.2	Disparity noise std dev (pixels)
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note: Min distance from disparity formula:

minDistance = baseline × focalLength / maxDisparity = 20 × 763 / 95 / 1000 ≈ 0.161m (rounded to 0.2m per spec)

ToF Depth Sensor Simulation Parameters

Parameter	Value	Description
baselineMM	0.5	Minimal baseline for single-sensor ToF (mm)
focalLengthPixel	457.0	ToF focal length (pixels)
sensorSizePixel	640.0	Sensor width (pixels)
maxDisparityPixel	95.0	Standard mode
minDistance	0.2	Minimum depth (m) — spec: 20cm
maxDistance	5.0	Maximum depth (m) — spec: 5m
noiseMean	0.1	Lower than stereo: ToF has <1% error indoors
noiseSigma	0.1	Lower than stereo: ToF has <1% error indoors
noiseDownscaleFactorPixel	2.0	Spatial smoothing factor
confidenceThreshold	0.8	Match quality filter (0.0-1.0)
outlierRemovalRange	3	Outlier filter window size

Note on Theoretical Values

All camera parameters across all models are computed theoretically from spec sheet HFOV values with centered principal points and symmetric left/right stereo cameras. To customize for a specific device, export calibration data using OAK Viewer and apply the conversion formulas from Section 3.3.

6. Quick Reference

Computed USD Parameters Summary

OAK-D Pro PoE (Standard FOV)

Camera	focalLength	hAperture	vAperture
RGB (IMX378)	4.7626	5.952	3.348
Stereo (OV9282)	2.4138	3.84	2.4
Pseudo Depth	2.4138	3.84	2.4

OAK-D Pro W PoE (Wide FOV)

Camera	focalLength	hAperture	vAperture
RGB (IMX378)	3.5467	5.952	3.348
Stereo (OV9282)	1.6987	3.84	2.4
Pseudo Depth	1.6987	3.84	2.4

OAK4-D (RVC4)

Camera	focalLength	hAperture	vAperture
RGB (IMX586)	4.7442	6.400	4.800
Stereo (OV9282)	2.4138	3.84	2.4
Pseudo Depth	2.4138	3.84	2.4

OAK4-D Wide (RVC4)

Camera	focalLength	hAperture	vAperture
RGB (IMX586)	3.3137	6.400	4.800
Stereo (OV9282)	1.6987	3.84	2.4
Pseudo Depth	1.6987	3.84	2.4

OAK-D ToF (RVC2)

Camera	focalLength	hAperture	vAperture
ToF (33D)	3.1991	4.480	3.360
Stereo (OV9782)	2.2882	3.840	2.400
Pseudo Depth (Stereo)	2.2882	3.840	2.400
Pseudo Depth (ToF)	3.1991	4.480	3.360

Depth Sensor Parameters Comparison

Parameter	OAK-D Pro PoE	OAK-D Pro W PoE	OAK4-D	OAK4-D Wide	OAK-D ToF (Stereo)	OAK-D ToF (ToF)
focalLengthPixel	805.0	566.0	805.0	566.0	763.0	457.0
minDistance (m)	0.6	0.2	0.6	0.2	0.2	0.2
maxDistance (m)	12.0	8.0	12.0	8.0	5.0	5.0
baselineMM	75.0	75.0	75.0	75.0	20.0	0.5

Depth Accuracy Comparison

Range	OAK-D Pro (RVC2)	OAK-D Pro W (RVC2)	OAK4-D (RVC4)	OAK4-D Wide (RVC4)	OAK-D ToF (ToF)
< 3.5m	< 2%	< 2%	< 1.5%	< 2%	< 1% (indoors)
3.5-6.5m	< 4%	< 4%	< 3%	< 4%	< 2% (outdoors)
6.5-9m	< 6%	< 6%	< 6%	< 6%	N/A (5m max)
9-12m	< 6%	N/A (8m max)	< 6%	N/A (8m max)	N/A

The OAK4-D (RVC4) offers ~25% better depth accuracy at close range compared to the OAK-D Pro (RVC2), converging to similar accuracy at longer distances. Wide FOV models trade maximum range for closer minimum distance. The OAK-D ToF achieves the best close-range accuracy (< 1% indoors) using time-of-flight sensing, but is limited to a 5m maximum range.

Generation Comparison

Feature	OAK-D Pro (RVC2)	OAK4-D (RVC4)	OAK4-D Wide (RVC4)	OAK-D ToF (RVC2)
Platform	Myriad X (Intel VPU)	QCS8550 (Qualcomm AI SoC)	QCS8550 (Qualcomm AI SoC)	Myriad X (Intel VPU)
RGB Sensor	Sony IMX378 (12.3 MP)	Sony IMX586 (48 MP)	Sony IMX586 (48 MP)	None
Stereo Sensor	OV9282	OV9282	OV9282 (wide optics)	OV9782 (color)
ToF Sensor	None	None	None	33D (640x480)
RGB HFOV	~64° (standard) / ~80° (wide)	~68°	~88°	N/A
Stereo HFOV	~77° (standard) / ~97° (wide)	~77°	~97°	~80°
ToF HFOV	N/A	N/A	N/A	~70°
Stereo Baseline	75 mm	75 mm	75 mm	20 mm
Close-Range Accuracy	< 2% at 3.5m	< 1.5% at 4m	< 2% at 3.5m	< 1% (ToF, indoors)
IMU	BNO086 (9-axis)	ICM-42688-P + AK09919C	ICM-42688-P + AK09919C	Yes
Data Source	Theoretical (spec sheet)	Theoretical (spec sheet)	Theoretical (spec sheet)	Theoretical (spec sheet)

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Luxonis OAK Camera Parameters for Isaac Sim

1. Overview

Camera Generations

Supported Camera Models

Download links

2. Sensor Specifications

2.1 Sony IMX378 (RGB Camera)

2.2 OmniVision OV9282 (Stereo Cameras)

2.3 Sony IMX586 (RGB Camera - OAK4-D)

2.4 OmniVision OV9782 (Stereo Cameras - OAK-D ToF)

2.5 33D ToF Sensor (OAK-D ToF)

3. OpenCV to USD Parameter Conversion

3.1 Conversion Formulas

3.2 Sensor Pixel Sizes

3.3 Device-Specific Calibration with OAK Viewer

4. Generating Depth Annotations

4.1 Ground Truth Depth (No Noise)

4.2 Simulated Depth with Noise

4.3 USD Asset Structure

4.4 Comparison of Annotators

4.5 Camera_Pseudo_Depth

5. Camera Models

5.1 OAK-D Pro PoE

Quick Start

Device Information

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX378)

Stereo Cameras (OV9282) — Left & Right Identical

Camera Features

Camera_Pseudo_Depth Configuration

Depth Sensor Simulation Parameters

Note on Distortion Coefficients

5.2 OAK-D Pro W PoE (Wide FOV)

Quick Start

Device Information

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX378)

Stereo Cameras (OV9282) — Left & Right Identical

Camera Features

Camera_Pseudo_Depth Configuration

Depth Sensor Simulation Parameters

Note on Distortion Coefficients

5.3 OAK4-D (RVC4)

Quick Start

Device Information

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX586)

Stereo Cameras (OV9282) — Left & Right Identical

Camera Features

Camera_Pseudo_Depth Configuration

Depth Sensor Simulation Parameters

Note on Distortion Coefficients

5.4 OAK4-D Wide (RVC4)

Device Information

Quick Start

Theoretical Intrinsics & USD Conversion

RGB Camera (Sony IMX586)

Stereo Cameras (OV9282) — Left & Right Identical

Camera Features

Camera_Pseudo_Depth Configuration

Depth Sensor Simulation Parameters

Note on Distortion Coefficients

5.5 OAK-D ToF (RVC2)

Device Information

OpenCV-Equivalent Theoretical Intrinsics & USD Conversion

ToF Camera (33D)

Left Stereo Camera (OV9782)

Right Stereo Camera (OV9782)

Camera Features

Camera_Pseudo_Depth_Stereo Configuration

Camera_Pseudo_Depth_ToF Configuration

Stereo Depth Sensor Simulation Parameters

ToF Depth Sensor Simulation Parameters

Note on Theoretical Values

6. Quick Reference

Computed USD Parameters Summary

Packages