To whom it may concern,
I was able to successfully create a stereo camera with the rep.create.stereo_camera() method on Code 2022.3.1 (Win) but then the same code run on Isaac sim 2022.2.0 (Win) outputs the two cameras optical axes aligned with the baseline as showed in the attached image.
The cameras are created with half the baseline on the x direction in replicator:
position=(-stereo_baseline / 2, 0.0, 0.0),
position=(stereo_baseline / 2, 0.0, 0.0),
But while in Code the cameras are positioned with the -Z direction, in Isaac the cameras are positioned as -X direction.
Then I saw that code has +Y as world up convention while Isaac has +Z as up convention as in conventions
Then I’ve tried to switch the world axis to +Y as in Code and it made the cameras axes to be as expected, i.e. perpendicular to the baseline:
Is it expected ? Shouldn’t the two cameras be created relative to the base xform instead of being absolute positioned?
Thanks in advance