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Ignition Gazebo get the Camera Matrix (or how to find an object's position in pixels for a camera sensor)

I have a world in Ignition Gazebo that contains a camera and a robot arm (panda). The camera has the robot in view. I would like to compute the pixel position of the robot's end-effector within the recorded camera image.

What I would like to know is how/where to find the camera matrix (and information about distortion if applicable) so that I can compute the projection.

I can find the projected position of the end-effector in the camera's frame of reference, but to convert the location into pixels I need the camera's intrinsic parameters. I thought they would be published on the /camera_info topic, but the simulator doesn't appear to publish any messages on this topic. My next thought was to check the camera sensor's source code, but I can't seem to figure out where it is located.

Any pointers where to find this information are highly appreciated :)

Ignition Gazebo get the Camera Matrix (or how to find an object's position in pixels for a camera sensor)

I have a world in Ignition Gazebo that contains a camera and a robot arm (panda). The camera has the robot in view. I would like to compute the pixel position of the robot's end-effector within the recorded camera image.

What I would like to know is how/where to find the camera matrix (and information about distortion if applicable) so that I can compute the projection.

I can find the projected position of the end-effector in the camera's frame of reference, but to convert the location into pixels I need the camera's intrinsic parameters. I thought they would be published on the /camera_info topic, but the simulator doesn't appear to publish any messages on this topic. My next thought was to check the camera sensor's source code, but I can't seem to figure out where it is located.

Any pointers where to find this information are highly appreciated :)