This post seems to suggest that there is a method on the Camera class in omni.isaac.sensor (important: not the type returned by replicator’s camera creation function: PYTHON API — Omni Replicator)
Obtained prime position data and replicator bbox data not match the captured image
However according to this documentation it uses the pinhole camera model, which won’t work for a fisheye lens. I verified this myself so it looks like I’ll need a different method.