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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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src/xml/xml_native_reader.cc
+9 -18
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@@ -1937,24 +1937,15 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
camera->proj = (mjtProjection)n;
}
bool has_principal = ReadAttr(elem, "principalpixel", 2, camera->principal_pixel, text) ||
ReadAttr(elem, "principal", 2, camera->principal_length, text);
bool has_focal = ReadAttr(elem, "focalpixel", 2, camera->focal_pixel, text) ||
ReadAttr(elem, "focal", 2, camera->focal_length, text);
bool needs_sensorsize = has_principal || has_focal;
bool has_sensorsize = ReadAttr(elem, "sensorsize", 2, camera->sensor_size, text, needs_sensorsize);
bool has_fovy = ReadAttr(elem, "fovy", 1, &camera->fovy, text);
bool needs_resolution = has_focal || has_sensorsize;
ReadAttr(elem, "resolution", 2, camera->resolution, text, needs_resolution);
if (camera->resolution[0] < 0 || camera->resolution[1] < 0) {
throw mjXError(elem, "camera resolution cannot be negative");
}
if (has_fovy && has_sensorsize) {
throw mjXError(
elem,
"either 'fovy' or 'sensorsize' attribute can be specified, not both");
ReadAttr(elem, "principalpixel", 2, camera->principal_pixel, text);
ReadAttr(elem, "principal", 2, camera->principal_length, text);
ReadAttr(elem, "focalpixel", 2, camera->focal_pixel, text);
ReadAttr(elem, "focal", 2, camera->focal_length, text);
ReadAttr(elem, "resolution", 2, camera->resolution, text);
bool sensorsize = ReadAttr(elem, "sensorsize", 2, camera->sensor_size, text);
bool fovy = ReadAttr(elem, "fovy", 1, &camera->fovy, text);
if (fovy && sensorsize) {
throw mjXError(elem, "either 'fovy' or 'sensorsize' attribute can be specified, not both");
}
// read userdata