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Add orthographic cameras.

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Orthographic cameras are specified by setting the `orthographic` attribute of the `<camera>` element. The `fovy` attribute is still used to specify the field-of-view, but its semantic is different for orthographic cameras. For orthographic cameras, the field-of-view is expressed in units of length, rather than degrees.

Other related changes:

* Fix bug in the ordering of `cam_xxx` elements in `mjModel`.
* Make camera visualization translucent only when the frustum is visualized.
* Added a button to `simulate` to toggle between perspective and orthographic free cameras.

https://youtu.be/ZXBTEIDWHhs

PiperOrigin-RevId: 642293435
Change-Id: Id090a421ad88ab404b5b27ddbbd6bfc81ad49bc5
This commit is contained in:
Yuval Tassa
2024-06-11 09:21:39 -07:00
committed by Copybara-Service
parent 171b0d6e06
commit 07fc95ca9a
23 changed files with 490 additions and 235 deletions
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introspect/structs.py
+61 -20
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@@ -310,10 +310,15 @@ STRUCTS: Mapping[str, StructDecl] = dict([
name='global',
type=AnonymousStructDecl(
fields=(
StructFieldDecl(
name='orthographic',
type=ValueType(name='int'),
doc='is the free camera orthographic (0: no, 1: yes)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='fovy',
type=ValueType(name='float'),
doc='y-field of view for free camera (degrees)',
doc='y field-of-view of free camera (orthographic ? length : degree)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='ipd',
@@ -2024,32 +2029,18 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='global orientation in qpos0 (ncam x 9)',
),
StructFieldDecl(
name='cam_resolution',
name='cam_orthographic',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='[width, height] in pixels (ncam x 2)',
doc='orthographic camera; 0: no, 1: yes (ncam x 1)',
),
StructFieldDecl(
name='cam_fovy',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='y-field of view (deg) (ncam x 1)',
),
StructFieldDecl(
name='cam_intrinsic',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='[focal length; principal point] (ncam x 4)',
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='sensor size (ncam x 2)',
doc='y field-of-view (ortho ? len : deg) (ncam x 1)',
),
StructFieldDecl(
name='cam_ipd',
@@ -2058,6 +2049,27 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='inter-pupilary distance (ncam x 1)',
),
StructFieldDecl(
name='cam_resolution',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='resolution: pixels [width, height] (ncam x 2)',
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='sensor size: length [width, height] (ncam x 2)',
),
StructFieldDecl(
name='cam_intrinsic',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='[focal length; principal point] (ncam x 4)',
),
StructFieldDecl(
name='cam_user',
type=PointerType(
@@ -5367,6 +5379,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtNum'),
doc='camera elevation (deg)',
),
StructFieldDecl(
name='orthographic',
type=ValueType(name='int'),
doc='0: perspective; 1: orthographic',
),
),
)),
('mjvGLCamera',
@@ -5428,6 +5445,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='float'),
doc='far',
),
StructFieldDecl(
name='orthographic',
type=ValueType(name='int'),
doc='0: perspective; 1: orthographic',
),
),
)),
('mjvGeom',
@@ -6701,6 +6723,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='cam_orthographic',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='cam_fovy',
type=PointerType(
@@ -6716,14 +6745,21 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='',
),
StructFieldDecl(
name='cam_intrinsic',
name='cam_resolution',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='',
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='cam_sensorsize',
name='cam_intrinsic',
type=PointerType(
inner_type=ValueType(name='float'),
),
@@ -9216,6 +9252,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='target body for tracking/targeting',
),
StructFieldDecl(
name='orthographic',
type=ValueType(name='int'),
doc='is camera orthographic',
),
StructFieldDecl(
name='fovy',
type=ValueType(name='double'),