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Specify camera parameters using standard robotics conventions.

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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
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doc/XMLschema.rst
+8 -4
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@@ -354,7 +354,9 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`xyaxes<body-camera-xyaxes>` | :ref:`zaxis<body-camera-zaxis>` | :ref:`euler<body-camera-euler>` | :ref:`mode<body-camera-mode>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`target<body-camera-target>` | :ref:`user<body-camera-user>` | | | |
| | | | :ref:`target<body-camera-target>` | :ref:`focal<body-camera-focal>` | :ref:`focalpixel<body-camera-focalpixel>` | :ref:`principal<body-camera-principal>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principalpixel<body-camera-principalpixel>` | :ref:`sensorsize<body-camera-sensorsize>` | :ref:`user<body-camera-user>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| body |br| |_| |L| | | .. table:: |
@@ -1230,11 +1232,13 @@
| :ref:`camera | ? | :class: mjcf-attributes |
| <default-camera>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | |
| | | | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | :ref:`pos<default-camera-pos>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`resolution<default-camera-resolution>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | |
| | | | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | :ref:`zaxis<default-camera-zaxis>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`user<default-camera-user>` | | |
| | | | :ref:`euler<default-camera-euler>` | :ref:`mode<default-camera-mode>` | :ref:`focal<default-camera-focal>` | :ref:`focalpixel<default-camera-focalpixel>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`principal<default-camera-principal>` | :ref:`principalpixel<default-camera-principalpixel>` | :ref:`sensorsize<default-camera-sensorsize>` | :ref:`user<default-camera-user>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| default |br| |_| |L| | | .. table:: |