This is the official Isaac Sim extension for Zivid 3D cameras.
This extension adds the ability to add realistic simulations of Zivid 3D cameras to your simulation with correct dimensions, masses and camera intrinsics.
Warning
This is a highly experimental extension which is still in development. There are known and unknown bugs and the presented API and GUI will most likely change drastically as we improve.
As this is an extension to Isaac Sim you need a working Isaac Sim installation. The minimum version is 4.5.0.
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Clone this repository:
git clone https://github.com/zivid/zivid-isaac-sim
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Follow the official instructions on how to install and enable extensions in Isaac Sim.
After enabling the extension the "Create" menu in the top menu bar offering to add a Zivid camera and two Zivid calibration boards to the scene. Additionally one can right-click on a prim in the tree to add a Zivid Camera to a prim. Intended to be used for adding a camera to a robot, this will only be available when right-clicking on a rigid body prim which has a parent or ancestor with articulation.
When adding a Zivid Camera a window appears where you can select the model, a mount (or no mount) and the path to the mount point prim. The latter will be automatically filled when using the right-click context menu, but you can change it. Note that when using no mount the pose of the camera will most likely be off by 90 degrees.
When a Zivid camera is present on the stage a new menu will be available where you can select a camera to further interact with:
By choosing a camera a docked window will appear to the left of the view port where you can change the model and perform a capture:
