All info available in the reported issue on the IsaacSim repository here:
opened 08:08PM - 13 Oct 25 UTC
### Description
The bounding box 3D annotator behaves odd with distorted camera… s. At first I was having problems with the PoseWriter without exporting obstacles data when I updated my cameras to ones with distortion models attached. After testing, I found out the bounding box 3D annotator was not giving any data or was rarely producing data for only 1 asset if it was close enough to the center of the image. So I did a very basic test of enabling the 3D bounging boxes on the UI and there the problem appears inmediately.
I made this video using the standalone example at `standalone_examples/api/isaacsim.sensors.camera/camera_opencv_pinhole.py`
https://github.com/user-attachments/assets/c660695b-e1e7-46f3-8f4f-c7e4361927e4
In that video, you can see I see clearl the 2d bounding box for that red box which moves when I move the box but the 3d bounding box never appears.
I made another video with my use case:
https://github.com/user-attachments/assets/779e990f-da00-4eb6-b10e-a32a9c6229e8
In this other video, I move around one cylinder and when it's in the very center of the image it gets detected. You can see there is an odd behavior while I move it.
So I did another test. I left the cylinder in a position where it is detected and ran the PoseWriter. Amont the exported data there are the projection of the bounding box corners on the camera image. So I picked those points and wrote a script to plot them on an empty image of the same resolution as the camera and this is what I got:
<img width="1497" height="927" alt="Image" src="https://github.com/user-attachments/assets/cec390b9-f767-4ce4-a8f5-b71460aef0ed" />
So apparently there is a difference between what I am seeing on the UI or the viewport sensor output window and the data that the annotator is processing.
I checked out the known issues and the open issues and I haven't found anything related to this so far. This is easily reproducible using the standalone example I've shown above.
Let me know if I can be of any help!
### Isaac Sim version
5.0.0
### Operating System (OS)
Ubuntu 24.04
### GPU Name
RTX 6000 Ada
### GPU Driver and CUDA versions
Driver 550.163.01, Cuda 12.4
### Logs
There are no relevant logs or messages
### Additional information
_No response_
1 Like
VickNV
October 25, 2025, 12:10am
2
Thanks for the report. This issue is already being tracked using your GitHub issue.
To avoid duplicate discussions, we’ll close this forum topic and continue updates and progress tracking directly on the linked GitHub issue.
1 Like