Bug in get_intrinsics_matrix() of Camera Isaac Sim Python API - wrong vertical aperture

Omniverse Isaac Sim
1

Isaac Sim 2022.2.1-rc.14 has a bug in get_intrinsics_matrix() where vertical_aperture incorrectly takes the value of horizontal aperture instead of vertical one:
exts/omni.isaac.sensor/omni/isaac/sensor/scripts/camera.py

    def get_intrinsics_matrix(self) -> np.ndarray:
        """
        Returns:
            np.ndarray: the intrinsics of the camera (used for calibration)
        """
        if "pinhole" not in self.get_projection_type():
            raise Exception("pinhole projection type is not set to be able to use get_intrinsics_matrix method.")
        focal_length = self.get_focal_length()
        horizontal_aperture = self.get_horizontal_aperture()
        vertical_aperture = self.get_horizontal_aperture() # should be vertical!
        (width, height) = self.get_resolution()
        fx = width * focal_length / horizontal_aperture
        fy = height * focal_length / vertical_aperture
        cx = width * 0.5
        cy = height * 0.5
        return self._backend_utils.create_tensor_from_list(
            [[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]], dtype="float32", device=self._device
        )

This impacts the correctnes of outputs for functions using the intrinsics (e.g. get_image_coords_from_world_points and get_world_points_from_image_coords).

2

Hi @nitr0x1de - Thank you for reporting this. I have forwarded this to right team. They are looking into it.

4

@rthaker on my side, I can confirm that changing to the expected vertical aperture produces correct results for the impacted functions