distortion parameter with depth_camera

[sam-tj]

Hi Team,
I am trying to simulate a ToF camera, and for that purpose used the <depth_camera> as sensor type. But I am unable to use intrinsics and distortion parameters.

Please can someone suggest how this can be achieved?

My setup:
Ubuntu 22.04
ROS: Humble
Gazebo: Fortress 6.16.0

[iche033]

lens intrinsics params should work now after #390. Distortion params are still not supported (when using the default rendering engine ogre2)

[sam-tj]

@iche033 ,
How can I switch the rendering engine?

[jongwook-bae]

@iche033 , How can I switch the rendering engine?

you can modify sdf(world) file from <render_engine>ogre2</render_engine> to <render_engine>ogre</render_engine>