# Camera data in numpy format in Isaac sim

**URL:** <https://forums.developer.nvidia.com/t/camera-data-in-numpy-format-in-isaac-sim/221428>\
**Category:** Isaac Sim\
**Tags:** synthetic-data\
**Created:** [July 21, 2022, 7:00am UTC](https://forums.developer.nvidia.com/t/camera-data-in-numpy-format-in-isaac-sim/221428 "2022-07-21T07:00:03Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![syoungk20](https://developer.download.nvidia.com/images/forums/profile-default-devtalk-84.png) [@syoungk20](https://forums.developer.nvidia.com/u/syoungk20)\
**Post date:** [July 21, 2022, 7:00am UTC](https://forums.developer.nvidia.com/t/camera-data-in-numpy-format-in-isaac-sim/221428/1 "2022-07-21T07:00:03Z")

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Hi,

How can I get camera image (color, depth) to numpy format?

I tried a code below,

```auto
sd = omni.syntheticdata._syntheticdata
sdi = sd.acquire_syntheticdata_interface()

def _get_sensor_data(sensor, dtype):
    width = sdi.get_sensor_width(sensor)
    height = sdi.get_sensor_height(sensor)
    row_size = sdi.get_sensor_ros_size(sensor)
    get_sensor = {
            "uint32": sdi.get_sensor_host_uint32_texture_array,
            "float": sdi.get_sensor_host_float_texture_array,
    }
    return get_sensor[dtype](sensor, width, height, row_size)

depth = _get_sensor_data(sd.SensorType.Depth, "float")

```

which I found that has error with isaac sim 2022.1  
AttributeError: ‘omni.syntheticdata.\_syntheticdata.SyntheticData’ object has no attribute ‘get\_sensor\_width’

How can I deal with this?

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<div class="post-metadata">

**Author:** ![ahaidu](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/ahaidu/32/177510_2.png) [@ahaidu](https://forums.developer.nvidia.com/u/ahaidu)\
**Post date:** [August 3, 2022, 6:47pm UTC](https://forums.developer.nvidia.com/t/camera-data-in-numpy-format-in-isaac-sim/221428/3 "2022-08-03T18:47:39Z")

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See if the snippets and the code from this tutorial would help you: [4. Online Generation — Omniverse Robotics documentation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_replicator_online_generation.html)

the important code snippets would be:

EDIT using new API ([Replicator](https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_replicator/getting_started.html)):

```python
RESOLUTION = (1024, 1024)
[..]
self.camera = self.rep.create.camera()
self.render_product = self.rep.create.render_product(self.camera, RESOLUTION)

# Setup annotators that will report groundtruth
self.rgb = self.rep.AnnotatorRegistry.get_annotator("rgb")
self.bbox_2d_tight = self.rep.AnnotatorRegistry.get_annotator("bounding_box_2d_tight")
self.instance_seg = self.rep.AnnotatorRegistry.get_annotator("instance_segmentation")
self.rgb.attach(self.render_product)
self.bbox_2d_tight.attach(self.render_product)
self.instance_seg.attach(self.render_product)
[..]
# Step - Randomize and render
self.rep.orchestrator.step()

# Collect Groundtruth
gt = {
    "rgb": self.rgb.get_data(device="gpu"),
    "boundingBox2DTight": self.bbox_2d_tight.get_data(device="gpu"),
    "instanceSegmentation": self.instance_seg.get_data(device="gpu"),
}

# RGB
# Drop alpha channel
image = self.wp.to_torch(gt["rgb"])[..., :3]
[..]

```

Old API:

```auto
RESOLUTION = (1024, 1024)
[..]
self.camera = self.rep.create.camera()
self.render_product = self.rep.create.render_product(self.camera, RESOLUTION)
self.viewport = omni.kit.viewport_legacy.get_default_viewport_window()
[..]
# Collect Groundtruth
gt = self.sd_helper.get_groundtruth(["rgb", "boundingBox2DTight", "instanceSegmentation"], self.viewport)

# RGB
# Drop alpha channel
image = gt["rgb"][..., :3]

```

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<div class="post-metadata">

**Author:** ![system](https://sea2.discourse-cdn.com/nvidia/user_avatar/forums.developer.nvidia.com/system/32/68080_2.png) [@system](https://forums.developer.nvidia.com/u/system)\
**Post date:** [August 17, 2022, 6:48pm UTC](https://forums.developer.nvidia.com/t/camera-data-in-numpy-format-in-isaac-sim/221428/4 "2022-08-17T18:48:25Z")

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Closed on August 17, 2022, 6:48pm UTC

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