Camera information

[JD-ETH]

Is there a way to extract the camera information? Intrinsic parameters: focal length and image center. (Doesn't seem to have distortion). Thanks!

[ZacRavichandran]

Yep, this can be done through tesse-interface using a CameraInformationRequest. This gives you the vertical field of view and camera resolution from which the focal length can be extracted.

The simulator uses a pinhole camera model, so there's no distortion.

Here's an example:

>>> from tesse.env import Env
>>> from tesse.msgs import CameraInformationRequest
>>> env = Env()
>>> camera_params = env.request(CameraInformationRequest())
>>> print(camera_params.metadata)

<TESSE_Agent_CameraInfo_v0.5>
  <camera_info>
    <name>rgb_left</name>
    <id>0</id>
    <parameters height='240' width='320' fov='60'/>
    <position x='-0.05' y='0' z='0'/>
    <rotation x='0' y='0' z='0' w='1'/>
    <draw_distance near='0.05' far='50'/>
  </camera_info>
  <camera_info>
    <name>rgb_right</name>
    <id>1</id>
    <parameters height='240' width='320' fov='60'/>
    <position x='0.05' y='0' z='0'/>
    <rotation x='0' y='0' z='0' w='1'/>
    <draw_distance near='0.05' far='50'/>
  </camera_info>
  <camera_info>
    <name>segmentation</name>
    <id>2</id>
    <parameters height='240' width='320' fov='60'/>
    <position x='-0.05' y='0' z='0'/>
    <rotation x='0' y='0' z='0' w='1'/>
    <draw_distance near='0.05' far='50'/>
  </camera_info>
  <camera_info>
    <name>depth</name>
    <id>3</id>
    <parameters height='240' width='320' fov='50'/>
    <position x='-0.05' y='0' z='0'/>
    <rotation x='0' y='0' z='0' w='1'/>
    <draw_distance near='0.05' far='50'/>
  </camera_info>
  <camera_info>
    <name>3pv</name>
    <id>4</id>
    <parameters height='240' width='320' fov='90'/>
    <position x='0' y='0.7' z='-1.2'/>
    <rotation x='0.1100685' y='0' z='0' w='0.993924'/>
    <draw_distance near='0.3' far='150'/>
  </camera_info>
  <camera_info>
    <name>instance_segmentation</name>
    <id>5</id>
    <parameters height='240' width='320' fov='60'/>
    <position x='0.05000019' y='0' z='0'/>
    <rotation x='0' y='0' z='0' w='1'/>
    <draw_distance near='0.05' far='50'/>
  </camera_info>
</TESSE_Agent_CameraInfo_v0.5>

[JD-ETH]

perfect, thanks!

[YLD2306]

@JD-ETH @ZacRavichandran Hello, may I ask you how to calculate its matrix with these camera data?