Can anyone tell me what Camera3DPosition is?

[bluejay100]

Isaac Sim Version

4.2.0

Operating System

Windows 10

GPU Information

• Model: RTX 3090
• Driver Version: 572.16

Topic Description

Detailed Description

Hello, I’m new to IsaacSim. I’ve been using Isaac Sim 4.2.0 and tried to make synthetic data with replicator. I found there are many annotations that I can use, but I can’t understand what Camera 3D Position means. Can anyone explain what Camera 3D Position actually means and what can I do with it? I can’t even find any of related documents. Plus, is there any way that I can add Camera 3D Position annotation information to my own custom replicator writer?

Screenshots or Videos

Additional Information

What I’ve Tried

I’ve tried to find documents about Variants(“Camera3dPosition” and “Camera3dPositionDisplay”) which was shown as tooltip in Isaac Sim GUI
(Click Sensor icon next to Camera view icon(Default as Perspective) → Camera3dPosition → Tooltip : “Enable Camera3dPositionDisplay visualization”),
but I can’t find any information about it…

[VickNV]

It’s to get 3D position information for each pixel in a camera’s view.

[bluejay100]

Thanks for answering me. Is there any documents or tutorials about Camera3dPosition? I want to make custom writer that includes Camera3dPosition annotation.

[rchadha]

for custom annotators, this link can help. You will have to obtain the pose of the camera and include it in the annotator.