patch camera to temporarily print debug info and set imageSize for the cv pinhole model correctly

Author: EricPedley

source/extensions/isaacsim.sensors.camera/isaacsim/sensors/camera/camera.py

@@ -42,7 +42,7 @@
 )
 from isaacsim.core.utils.render_product import get_resolution, set_camera_prim_path, set_resolution
 from omni.isaac.IsaacSensorSchema import IsaacRtxLidarSensorAPI
-from pxr import Sdf, Usd, UsdGeom, Vt
+from pxr import Sdf, Usd, UsdGeom, Vt, Gf
 
 # Attribute maps for lens distortion models
 OPENCV_PINHOLE_ATTRIBUTE_MAP = ["k1", "k2", "p1", "p2", "k3", "k4", "k5", "k6", "s1", "s2", "s3", "s4"]
@@ -1884,21 +1884,29 @@ def _set_lens_distortion_properties(
  **kwargs,
  ) -> None:
  """Sets lens distortion model parameters if camera prim is using lens distortion model."""
+ #https://docs.omniverse.nvidia.com/materials-and-rendering/latest/cameras.html#lens-calibration
  self.prim.ApplyAPI(f"OmniLensDistortion{distortion_model}API")
+ print('Applying lens distortion model:', distortion_model)
  self.prim.GetAttribute("omni:lensdistortion:model").Set(distortion_model_attr)
  for coefficient_name, coefficient_value in zip(coefficient_map or [], coefficients or []):
  if coefficient_value is None:
  continue
+ print(f"omni:lensdistortion:{distortion_model_attr}:{coefficient_name}", coefficient_value)
  self.prim.GetAttribute(f"omni:lensdistortion:{distortion_model_attr}:{coefficient_name}").Set(
  coefficient_value
  )
+ print('Named coefficient:', {coefficient_name: coefficient_value})
  for attr_name, attr_value in kwargs.items():
  if attr_value is None:
  continue
  tokens = attr_name.split("_")
  updated_attr_name = tokens[0]
  for i in tokens[1:]:
  updated_attr_name += i.capitalize()
+ if updated_attr_name == 'imageSize':
+ attr_value = Gf.Vec2i(int(attr_value[0]), int(attr_value[1]))
+ print('kwarg coefficient: ', {updated_attr_name: attr_value})
+ print(f"omni:lensdistortion:{distortion_model_attr}:{updated_attr_name}", attr_value)
  self.prim.GetAttribute(f"omni:lensdistortion:{distortion_model_attr}:{updated_attr_name}").Set(attr_value)
  return
 
@@ -2129,6 +2137,7 @@ def set_opencv_pinhole_properties(
  fx: Optional[float] = None,
  fy: Optional[float] = None,
  pinhole: Optional[List[float]] = None,
+ imageSize: Optional[List[float]] = None
  ) -> None:
  """
  Applies OpenCV pinhole distortion model to camera prim, then sets distortion parameters.
@@ -2149,6 +2158,7 @@ def set_opencv_pinhole_properties(
  cy=cy,
  fx=fx,
  fy=fy,
+ imageSize=imageSize,
  )
 
  def get_opencv_pinhole_properties(self) -> Tuple[float, float, float, float, List]: