chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Specify camera parameters using standard robotics conventions.

Browse Source 
PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
This commit is contained in:
Alessio Quaglino
2023-09-28 05:18:36 -07:00
committed by Copybara-Service
parent ca60de79c8
commit 36d2ffe4f2
28 changed files with 528 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+45 -3
View File
@@ -3053,6 +3053,35 @@ 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"`
Principal point of the camera in length units. It is mutually exclusive with :ref:`fovy <body-camera-fovy>`.
.. _body-camera-principalpixel:
:at:`principalpixel`: :at-val:`real(2), "0 0"`
Principal point of the camera 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"`
@@ -6700,8 +6729,6 @@ if omitted.
| All site attributes are available here except: name, class.
.. _default-camera:
.. _default-camera-fovy:
.. _default-camera-resolution:
@@ -6724,11 +6751,26 @@ if omitted.
.. _default-camera-user:
.. _default-camera-resolution:
.. _default-camera-focal:
.. _default-camera-focalpixel:
.. _default-camera-principal:
.. _default-camera-principalpixel:
.. _default-camera-sensorsize:
.. _default-camera:
:el-prefix:`default/` |-| **camera** (?)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
| This element sets the attributes of the dummy :ref:`camera <body-camera>` element of the defaults class.
| All camera attributes are available here except: name, class.
| All camera attributes are available here except: name, class, mode, target.
.. _default-light: