Add cam_intrinsic to mjvSceneState.

Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99

doc/includes/references.h

@@ -2201,6 +2201,7 @@ struct mjvSceneState_ {
 
     mjtNum* cam_fovy;
     mjtNum* cam_ipd;
+    float* cam_intrinsic;
     float* cam_sensorsize;
 
     mjtByte* light_directional;

include/mujoco/mjvisualize.h

@@ -486,6 +486,7 @@ struct mjvSceneState_ {
 
     mjtNum* cam_fovy;
     mjtNum* cam_ipd;
+    float* cam_intrinsic;
     float* cam_sensorsize;
 
     mjtByte* light_directional;

include/mujoco/mjxmacro.h

@@ -276,7 +276,7 @@
     X   ( int,     cam_targetbodyid,      ncam,          1                    ) \
     X   ( int,     cam_resolution,        ncam,          2                    ) \
     XMJV( float,   cam_sensorsize,        ncam,          2                    ) \
-    X   ( float,   cam_intrinsic,         ncam,          4                    ) \
+    XMJV( float,   cam_intrinsic,         ncam,          4                    ) \
     X   ( mjtNum,  cam_pos,               ncam,          3                    ) \
     X   ( mjtNum,  cam_quat,              ncam,          4                    ) \
     X   ( mjtNum,  cam_poscom0,           ncam,          3                    ) \

introspect/structs.py

@@ -6605,6 +6605,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='cam_intrinsic',
+                             type=PointerType(
+                                 inner_type=ValueType(name='float'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='cam_sensorsize',
                              type=PointerType(

test/engine/engine_vis_state_test.cc

@@ -33,12 +33,16 @@ static const char* const kHammockPath =
     "engine/testdata/hammock/hammock.xml";
 static const char* const kTendonPath =
     "engine/testdata/island/tendon_wrap.xml";
-static const char* const kModelPath = "testdata/model.xml";
+static const char* const kFrustumPath =
+    "engine/testdata/vis_visualize/frustum.xml";
+static const char* const kModelPath =
+    "testdata/model.xml";
 
 #define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
 
 TEST_F(MjvSceneStateTest, CanUpdateFromState) {
-  for (const char* path : {kHammockPath, kTendonPath, kModelPath}) {
+  for (const char* path :
+       {kHammockPath, kTendonPath, kModelPath, kFrustumPath}) {
     const std::string xml_path = GetTestDataFilePath(path);
     mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
     ASSERT_THAT(model, NotNull());

unity/Runtime/Bindings/MjBindings.cs

@@ -6132,6 +6132,7 @@ public unsafe struct model {
   public float* site_rgba;
   public double* cam_fovy;
   public double* cam_ipd;
+  public float* cam_intrinsic;
   public float* cam_sensorsize;
   public byte* light_directional;
   public byte* light_castshadow;