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Refactor camera intrinsic parameter handling.

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Move logic from parser to compiler.

PiperOrigin-RevId: 847689906
Change-Id: I844746081973205e1b33a3845add842e8b8c3c07
This commit is contained in:
Yuval Tassa
2025-12-22 03:06:36 -08:00
committed by Copybara-Service
parent b77977a962
commit 158525269b
4 changed files with 54 additions and 63 deletions
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doc/XMLreference.rst
+22 -30
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@@ -2976,6 +2976,28 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
for most scenes and should likely be reduced. In either case, the horizontal field of view is computed automatically
given the window size and the vertical field of view.
.. _body-camera-sensorsize:
:at:`sensorsize`: :at-val:`real(2), "0 0"`
Size of the camera sensor in length units. When specified, all intrinsic attributes become active and :at:`fovy`
is ignored. The field-of-view is then computed automatically from the focal length and sensor size. This
also enables frustum visualization when the :ref:`mjVIS_CAMERA<mjtVisFlag>` visualization flag is active.
.. _body-camera-focal:
.. _body-camera-focalpixel:
:at:`focal` / :at:`focalpixel`: :at-val:`real(2), "0 0"`
Focal length in physical length units or in pixels, respectively. If both are specified, the pixel
value is used and the length value is ignored.
.. _body-camera-principal:
.. _body-camera-principalpixel:
:at:`principal` / :at:`principalpixel`: :at-val:`real(2), "0 0"`
Offset of the principal point (optical axis intersection with the image plane) from the image center. If both are
specified, the pixel value is used. At zero offset, the rendered image is centered on the camera's negative Z axis,
as in a standard pinhole camera model.
.. _body-camera-resolution:
:at:`resolution`: :at-val:`int(2), "1 1"`
@@ -2983,36 +3005,6 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
dimensions are determined by the size of the rendering context. This attribute serves as a convenient
location to save the required resolution when creating a context.
.. _body-camera-focal:
:at:`focal`: :at-val:`real(2), "0 0"`
Focal length of the camera in length units. It is mutually exclusive with :ref:`fovy <body-camera-fovy>`.
See :ref:`CCamera` for details.
.. _body-camera-focalpixel:
:at:`focalpixel`: :at-val:`int(2), "0 0"`
Focal length of the camera in pixel units. If both :at:`focal` and :at:`focalpixel` are specified, the former is
ignored.
.. _body-camera-principal:
:at:`principal`: :at-val:`real(2), "0 0"`
Offset of the principal point of the camera with respect to the camera center in length units. It is mutually
exclusive with :ref:`fovy <body-camera-fovy>`.
.. _body-camera-principalpixel:
:at:`principalpixel`: :at-val:`real(2), "0 0"`
Offset of the principal point of the camera with respect to the camera center in pixel units. If both
:at:`principal` and :at:`principalpixel` are specified, the former is ignored.
.. _body-camera-sensorsize:
:at:`sensorsize`: :at-val:`real(2), "0 0"`
Size of the camera sensor in length units. It is mutually exclusive with :ref:`fovy <body-camera-fovy>`. If
specified, :ref:`resolution <body-camera-resolution>` and :ref:`focal <body-camera-focal>` are required.
.. _body-camera-ipd:
:at:`ipd`: :at-val:`real, "0.068"`