I customized a camera, the code is as follows：
camera_name = “main_camera”
camera_prim_path = “/World/Fancy_Robot/camera”
self._camera = scene.add(Camera(
prim_path=camera_prim_path,
name=camera_name,
position=self.camera_position,
frequency=20,
resolution=(512, 512),
orientation=rot_utils.euler_angles_to_quats(np.array([0, -5, -65]), degrees=True),
))
self._camera.set_focal_length(float(2.5))
I can get the intrinsic parameters through “in_matrix = self._camera.get_intrinsics_matrix()”，but how to get the external parameters?