simGetImages clarification

[emeQee]

Hi. I am very new in stereo imaging and AirSim, thus I need some guidance regarding stereo image simulations.

The documentation says, the simGetImages call is more complex and "you can get left camera view, right camera view and depth image from left camera in a single API call" (see Image APIs). Also the baseline for the stereo camera is fixed at 25 cm (afaik).

Now my question is:
Can I retrieve left and right images separetly with a single camera? Or do I specifically declare two cameras in settings.json and ask the API to get me the images from both cameras?

Background is, that I am trying to simulate a ZED camera with a baseline of 12 cm. I created a zed-left camera to get Scene and DepthPerspective images and zed-right for Scene only. The camera's are separated by 12 cm as per camera settings. Does the internal 25 cm baseline have any effect on my ZED simulation?

---

For reference, a partial of my settings.json:

"Cameras": {
    "zed-left": {
        "CaptureSettings": [
            { "ImageType": 0, "Width": 672, "Height": 376, "FOV_Degrees": 90, "MotionBlurAmount": 0 },
            { "ImageType": 2, "Width": 672, "Height": 376, "FOV_Degrees": 90, "MotionBlurAmount": 0 }
        ],
        "X": 0.15, "Y": -0.06, "Z": -1.1,
        "Pitch": -15.0, "Roll": 0, "Yaw": 0
    },
    "zed-right": {
        "CaptureSettings": [
            { "ImageType": 0, "Width": 672, "Height": 376, "FOV_Degrees": 90, "MotionBlurAmount": 0 }
        ],
        "X": 0.15, "Y": 0.06, "Z": -1.1,
        "Pitch": -15.0, "Roll": 0, "Yaw": 0
    }
}

[rajat2004]

You'll have to use 2 different cameras to fetch the images from, example API call -

responses = client.simGetImages([
    airsim.ImageRequest("zed-left", airsim.ImageType.Scene),
    airsim.ImageRequest("zed-right", airsim.ImageType.Scene)])

Settings seems fine, similar to #1790 (comment).