Rep.create.camera() does not take optical center for pinhole camera

[aja9675]

rep.create.camera() allows specifying the optical center for a fisheye camera model, but not a pinhole camera model. This causes an inconsistency that affects tasks which require accurate modeling of camera geometry such as monocular 6D pose estimation.

Good example:

Bad example:

Note that this is related to:

Invalid rotations from offline_pose_generation.py

I am observing an error in rotation when running the offline pose demo script on objects that aren’t from YCB-Video. The tutorial I am following is here: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_replicator_offline_pose_estimation.html# By visualizing the object axis and bounding cuboid, I can see that the pose of the cracker box object is valid: [cracker_box] However, when I try this on a simple cube object, I observe the following: [cube] The translation app…

[andrew_g]

@aja9675, thank you for bringing this up. I will mention this to the Replicator team who maintains omni.replicator.core next week. I will keep you posted.