Depth camera intrinsics do not update

[Veng97]

I'm using the depth camera plugin and describe my camera with the following SDF:

   <gazebo reference="${name}_left_camera_frame">
      <sensor name="depth_camera" type="depth_camera">
        <topic>${name}/depth/image_rect</topic>
        <ignition_frame_id>${name}_left_camera_optical_frame</ignition_frame_id>
        <update_rate>${camera_update_rate}</update_rate>
        <visualize>true</visualize>
        <always_on>1</always_on>
        <camera name="${name}_left_camera_depth">
          <!-- <horizontal_fov>${horizontal_fov_deg*pi/180.0}</horizontal_fov> -->
          <!-- <vertical_fov>${vertical_fov_deg*pi/180.0}</vertical_fov> -->
          <image>
            <!-- <width>${image_width}</width> -->
            <!-- <height>${image_height}</height> -->
            <format>R_FLOAT32</format>
          </image>
          <clip>
            <near>${minimum_depth_m}</near>
            <far>${maximum_depth_m}</far>
          </clip>
          <noise>
		<type>gaussian</type>
		<mean>0</mean>
		<stddev>0.01</stddev>
		</noise>
        </camera>
      </sensor>
    </gazebo>

I noticed that the camera info topic doesn't update when i override the default image width and height properties - that means that the camera intrinsics are incorrect when i specify non-default width and height parameters. Note that i set the image frame by using the <ignition_frame_id> property.

[azeey]

Hi @Veng97 , this looks like a bug request. Would you mind providing information requested in the Bug Report template?

[iche033]

There's been some work done on this recently: https://github.com/gazebosim/gz-sensors/pull/308. Maybe worth checking if you have the latest gz-sensors / ignition-sensors version

[agonzat]

I can confirm that this bug is still present using the latest binary packages for ROS Humble on Ubuntu 22.04.

I tried to build a minimal example based on ros2 launch ros_ign_gazebo_demos camera.launch.py but these demos seem to be currently broken.

In our case, the intended sensor configuration was the following, which will produce CameraInfo messages that don't match the sensor parameters:

<sensor name="cameradepth" type="depth_camera">
  <topic>/cameradepth/depth_image</topic>
  <ignition_frame_id>camera_depth_optical_frame</ignition_frame_id>
  <camera name="camera">
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.100</stddev>
    </noise>
  </camera>
  <always_on>1</always_on>
  <update_rate>30</update_rate>
  <visualize>0</visualize>
</sensor>

I obtain the following CameraInfo regardless of the configuration (width, height or horizontal_fov):

header:
  stamp:
    sec: 11
    nanosec: 220000000
  frame_id: L_camera_depth_optical_frame
height: 240
width: 320
distortion_model: plumb_bob
d:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
k:
- 277.0
- 0.0
- 160.0
- 0.0
- 277.0
- 120.0
- 0.0
- 0.0
- 1.0
r:
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
- 0.0
- 0.0
- 1.0
p:
- 277.0
- 0.0
- 160.0
- -0.0
- 0.0
- 277.0
- 120.0
- 0.0
- 0.0
- 0.0
- 1.0
- 0.0
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false

While removing the following lines makes the obtained CameraInfo messages match the Image:

<horizontal_fov>1.57</horizontal_fov>
<image>
    <width>1280</width>
    <height>720</height>
</image>

I experience the same issues on RGB cameras.