How can I get camera intrinsic matrix from prim?

Omniverse Isaac Sim
1

I defined the camera prim as below and generated the rgb and depth images using the render product.

I want to get a camera intrinsic matrix, is there a way?

I can use the get_intrinsics_matrix() function with the Camera class, but I don’t know how to get it if I define it as prim.

import omni.replicator.core as rep
from omni.isaac.core.utils import prims

self.camera = prims.create_prim(
    prim_path="/World/Camera",
    prim_type="Camera",
    position= np.array([0, 0, 0.85]),
    orientation= np.array([1, 0, 0, 0]),
    attributes={
        "focusDistance": 1,
        "focalLength": 24,
        "horizontalAperture": 20.955,
        "verticalAperture": 15.2908,
        "clippingRange": (0.01, 1000000),
        "clippingPlanes": np.array([1.0, 0.0, 1.0, 1.0]),
    },
)

self.render_product = rep.create.render_product(prims.get_prim_path(self.camera), resolution=RESOLUTION)

self.rgb = rep.AnnotatorRegistry.get_annotator("rgb")
self.depth = rep.AnnotatorRegistry.get_annotator("distance_to_camera")
self.rgb.attach(self.render_product)
self.depth.attach(self.render_product)
2

@nicky707 i am just another user, but would this doc page be relevant in your search?

https://docs.omniverse.nvidia.com/isaacsim/latest/features/sensors_simulation/isaac_sim_sensors_camera.html