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Signed-off-by: Alejandro Hernández Cordero <[email protected]>
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ahcorde committed Dec 1, 2022
1 parent f4b7753 commit 32a6241
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5 changes: 5 additions & 0 deletions src/CameraSensor.cc
Original file line number Diff line number Diff line change
Expand Up @@ -261,6 +261,11 @@ bool CameraSensor::CreateCamera()
// the cumulative effect of intrinsic and extrinsic parameters
if(!cameraSdf->HasLensProjection())
{
// Note that the matrix from Ogre via camera->ProjectionMatrix() has a
// different format than the projection matrix used in SDFormat.
// This is why they are converted using projectionToCameraIntrinsic.
// The resulting matrix is the intrinsic matrix, but since the user has
// not overridden the values, this is also equal to the projection matrix.
auto intrinsicMatrix =
gz::rendering::projectionToCameraIntrinsic(
this->dataPtr->camera->ProjectionMatrix(),
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