camera intrinsic seems wrong

[bbzh]

Hi NuPlan team,

I have been looking into the sensor data, and would like to ask two questions on the camera intrinsic:

1. Camera intrinsic matrix for all cameras are [[[1545.0, 0.0, 960.0], [0.0, 1545.0, 560.0], and the images are all of size [1920,1080]. We can see cx=960=1920/2 is fixed at image center, but why cy=560 instead of 1080/2=540? It is an actual calibration output, or just a typo when manually specifying cy?

2. As mentioned above, all cameras have exactly the same intrinsic parameters, which is not possible in practice. Is this an assumption you have made as prior?

Thanks!

[SimingYan]

Found the same issue here. Is there any update?