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Hi @eogeo,

If you look at the SDF format in the sensor tag, inside camera tag, there is a section for camera intrinsics in which you can define, among other things:

  1. fx: X focal length (in pixels, overrides horizontal_fov).
  2. fy: Y focal length (in pixels, overrides horizontal_fov).
  3. cx: X principal point (in pixels).
  4. cy: Y principal point (in pixels).
  5. s: XY axis skew.

Hope this helps you.

Regards.