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Hi @eogeo,
If you look at the SDF format in the sensor tag, inside camera
tag, there is a section for camera intrinsics
in which you can define, among other things:
fx
: X focal length (in pixels, overrides horizontal_fov).fy
: Y focal length (in pixels, overrides horizontal_fov).cx
: X principal point (in pixels).cy
: Y principal point (in pixels).s
: XY axis skew.Hope this helps you.
Regards.