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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
gazebosim · Nov 30, 2022 · f4b7753 · f4b7753
1 parent b1cd55d
commit f4b7753
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -254,6 +254,11 @@ bool CameraSensor::CreateCamera()
     cameraSdf->SetLensIntrinsicsCy(intrinsicMatrix(1, 2));
   }
 
+  // Update the DOM object intrinsics to have consistent
+  // projection matrix values between ogre camera and camera_info msg
+  // If these values are not defined in the SDF then we need to update
+  // these values to something reasonable. The projection matrix is
+  // the cumulative effect of intrinsic and extrinsic parameters
   if(!cameraSdf->HasLensProjection())
   {
     auto intrinsicMatrix =