Camera catalog
Cameras¶
| Camera | ID | Sensor | Lens | FoV (H × V) | Status | |
|---|---|---|---|---|---|---|
| Intel RealSense D435 / D435i IR imager (one stereo eye) | intel/realsense-d435/depth |
1280×800, 3.0 µm, global, mono | 1.93 mm f/2.0 | 90° × 64° | estimated (datasheet) | Show in browser |
| Intel RealSense D435 / D435i RGB camera | intel/realsense-d435/color |
1920×1080, 1.4 µm, rolling | 1.88 mm f/2.0 | 69° × 42° | estimated (datasheet) | Show in browser |
| Intel RealSense D455 IR imager (one stereo eye) | intel/realsense-d455/depth |
1280×800, 3.0 µm, global, mono | 1.93 mm f/2.0 | 90° × 64° | estimated (datasheet) | Show in browser |
| Intel RealSense D455 RGB camera | intel/realsense-d455/color |
1280×800, 3.0 µm, global | 1.93 mm f/2.0 | 90° × 64° | estimated (datasheet) | Show in browser |
| Logitech C920 HD Pro Webcam | logitech/c920 |
1920×1080, 2.6977 µm, rolling | 3.67 mm f/2.0 | 70° × 43° | estimated (datasheet) | Show in browser |
| Luxonis OAK-D color camera | luxonis/oak-d/color |
4056×3040, 1.55 µm, rolling | 4.553 mm f/1.8 | 69° × 55° | estimated (datasheet) | Show in browser |
| Luxonis OAK-D mono camera (one stereo eye) | luxonis/oak-d/mono |
1280×800, 3.0 µm, global, mono | 2.639 mm f/2.0 | 72° × 49° | estimated (datasheet) | Show in browser |
| Raspberry Pi Camera Module 3 | raspberrypi/camera-module-3/standard |
4608×2592, 1.4 µm, rolling | 4.74 mm f/1.8 | 66° × 40° | estimated (datasheet) | Show in browser |
| Raspberry Pi Camera Module 3 Wide | raspberrypi/camera-module-3/wide |
4608×2592, 1.4 µm, rolling | 2.75 mm f/2.2 | 99° × 67° | estimated (datasheet) | Show in browser |
| Stereolabs ZED 2i 2.1 mm eye | stereolabs/zed-2i/2.1mm |
2208×1242, 2.0 µm, rolling | 2.1 mm f/2.0 | 88° × 57° | estimated (datasheet) | Show in browser |
| Stereolabs ZED X / X Mini 2.2 mm eye | stereolabs/zed-x/2.2mm |
1920×1200, 3.0 µm, global | 2.2 mm f/2.2 | 104° × 78° | estimated (datasheet) | Show in browser |
| Stereolabs ZED X 4 mm eye | stereolabs/zed-x/4mm |
1920×1200, 3.0 µm, global | 4.0 mm f/2.2 | 74° × 51° | estimated (datasheet) | Show in browser |
Stereo modules¶
| Module | ID | Baseline | Eyes | Output | |
|---|---|---|---|---|---|
| Intel RealSense D435 / D435i | intel/realsense-d435 |
50 mm | intel/realsense-d435/depth |
rectified | Show in browser |
| Intel RealSense D455 | intel/realsense-d455 |
95 mm | intel/realsense-d455/depth |
rectified | Show in browser |
| Luxonis OAK-D | luxonis/oak-d |
75 mm | luxonis/oak-d/mono |
rectified | Show in browser |
| Stereolabs ZED 2i (2.1 mm) | stereolabs/zed-2i/2.1mm |
120 mm | stereolabs/zed-2i/2.1mm |
rectified | Show in browser |
| Stereolabs ZED X (2.2 mm) | stereolabs/zed-x/2.2mm |
120 mm | stereolabs/zed-x/2.2mm |
rectified | Show in browser |
| Stereolabs ZED X (4 mm) | stereolabs/zed-x/4mm |
120 mm | stereolabs/zed-x/4mm |
rectified | Show in browser |
| Stereolabs ZED X Mini (2.2 mm) | stereolabs/zed-x-mini/2.2mm |
50 mm | stereolabs/zed-x/2.2mm |
rectified | Show in browser |
About the images
Each camera is seen from the same pose in two scenes, through its own lens, field
of view and focus: MuJoCo (robosuite PickPlace, from the Panda's wrist) and Isaac
Sim 6.1 (a random tabletop). Pinhole is what the simulator renders by itself;
PSF bank blurs it with the lens' point-spread functions and applies distortion
and vignetting (fastest); ray cast traces every pixel's rays through the lens
into the scene (most exact). Raw sensor is the image as the
sensor records it; Calibrated undistorts it with the camera's calibration and
keeps the lens blur, as stereo SDKs deliver rectified streams (ZED, RealSense IR).
Every method takes its geometry (field of view, distortion) from the catalog entry;
a surrogate lens file adds blur and vignetting only. There is no depth view: TwinRobo
simulates what cameras image, not yet what depth cameras measure
(depth output). Images are 640 px wide, rendered
offline with tools/docs/playground.
For cameras on a robot, see the simulator demo. Near-infrared
cameras (the RealSense IR imagers, marked IR) keep their geometry and lens in the
near IR, so their views show those; they are rendered in visible light as one
channel, without near-IR appearance or the projector's dots
(roadmap).
Your camera is missing?
Add it: an entry is a camera.yaml and a lens
file, and this page picks it up. Camera makers can partner with us
for verified entries.