I am currently working on creating a digital twin of a real-world ZED X camera in NVIDIA Isaac Sim. I noticed that Stereolabs provides certified support and extensions for the ZED X within Isaac Sim, so I wanted to ask for guidance regarding camera intrinsics configuration.
While trying to replicate the real camera intrinsics by modifing values in Isaac Sim under ZED X camera properties section PinholeOpenCV, I encountered an issue related to the optical center parameters. Specifically, when I use the real-world optical center X from left camera value (cx = 961.542), the depth values generated through the ZED SDK appear incorrectly scaled and inconsistent.
For the purposes of my research, I temporarily set the optical center X from left camera equal to the optical center X value from right camera which is 971.565, which stabilizes the depth output. However, this introduces noticeable lateral offsets in object detection, especially at larger distances when comparing the outputs with real world ZED X camera.
I would like to ask whether there is a specific procedure or recommended approach for correctly configuring camera intrinsics in Isaac Sim so that the simulated ZED X matches the real-world camera as accurately as possible.