Non-zero Tx values with multiple cameras

[Tacha-S]

Environment

• OS Version: Ubuntu 24.04
• binary build version: 8.7.0

Description

• Expected behavior:

Tx should be zero for all cameras.

• Actual behavior:

When placing multiple cameras with different frames in Gz,
the Tx value of the second and subsequent cameras does not become zero,
even though they are ideal cameras without distortion.

Steps to reproduce

1. Place two or more cameras in Gazebo, each assigned to a separate frame.
2. Use gz topic -e to check the Tx values for each camera.

Output

camera info 1

gz topic -e -t /camera1/rgb/camera_info -n 1
header {
  stamp {
    sec: 506
    nsec: 90000000
  }
  data {
    key: "frame_id"
    value: "camera1_rgb_optical_frame"
  }
}
width: 640
height: 480
distortion {
  k: 0
  k: 0
  k: 0
  k: 0
  k: 0
}
intrinsics {
  k: 320
  k: 0
  k: 320
  k: 0
  k: 320.00000953674316
  k: 240
  k: 0
  k: 0
  k: 1
}
projection {
  p: 320
  p: 0
  p: 320
  p: 0
  p: 0
  p: 320.00000953674316
  p: 240
  p: 0
  p: 0
  p: 0
  p: 1
  p: 0
}
rectification_matrix: 1
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 1
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 1

camera info 2

gz topic -e -t /camera2/rgb/camera_info -n 1
header {
  stamp {
    sec: 609
    nsec: 120000000
  }
  data {
    key: "frame_id"
    value: "camera2_rgb_optical_frame"
  }
}
width: 1280
height: 720
distortion {
  k: 0
  k: 0
  k: 0
  k: 0
  k: 0
}
intrinsics {
  k: 1249.0565490722656
  k: 0
  k: 640
  k: 0
  k: 1249.0565013885498
  k: 360
  k: 0
  k: 0
  k: 1
}
projection {
  p: 1249.0565490722656
  p: 0
  p: 640
  p: -56.832072982788084  <------ Tx is not 0
  p: 0
  p: 1249.0565013885498
  p: 360
  p: 0
  p: 0
  p: 0
  p: 1
  p: 0
}
rectification_matrix: 1
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 1
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 0
rectification_matrix: 1

[Tacha-S]

I have confirmed that it is possible to set the baseline for the stereo camera, but is there a way to disable it?

gz-sensors/src/CameraSensor.cc

Lines 738 to 749 in aaef365

	void CameraSensor::SetBaseline(double _baseline)
	{
	this->dataPtr->baseline = _baseline;
	// Also update message
	if (this->dataPtr->infoMsg.has_projection() &&
	this->dataPtr->infoMsg.projection().p_size() == 12)
	{
	auto fx = this->dataPtr->infoMsg.projection().p(0);
	this->dataPtr->infoMsg.mutable_projection()->set_p(3, -fx * _baseline);
	}
	}