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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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test/xml/xml_native_reader_test.cc
+3 -3
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@@ -2001,7 +2001,7 @@ TEST_F(XMLReaderTest, CameraPrincipalRequiresSensorsize) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'sensorsize'"));
EXPECT_THAT(error.data(), HasSubstr("focal/principal require sensorsize"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}
@@ -2011,7 +2011,7 @@ TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
<worldbody>
<body>
<geom size="1"/>
<camera sensorsize="1 1"/>
<camera sensorsize="1 1" resolution="0 0"/>
</body>
</worldbody>
</mujoco>
@@ -2019,7 +2019,7 @@ TEST_F(XMLReaderTest, CameraSensorsizeRequiresResolution) {
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("attribute missing: 'resolution'"));
EXPECT_THAT(error.data(), HasSubstr("requires positive resolution"));
EXPECT_THAT(error.data(), HasSubstr("line 6"));
}