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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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include/mujoco/mjmodel.h
+3
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@@ -111,6 +111,7 @@ typedef enum mjtGeom_ { // type of geometric shape
mjGEOM_LINE, // line
mjGEOM_SKIN, // skin
mjGEOM_LABEL, // text label
mjGEOM_TRIANGLE, // triangle connecting a frame
mjGEOM_NONE = 1001 // missing geom type
} mjtGeom;
@@ -742,6 +743,8 @@ struct mjModel_ {
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
int* cam_resolution; // [width, height] in pixels (ncam x 2)
mjtNum* cam_fovy; // y-field of view (deg) (ncam x 1)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
float* cam_sensorsize; // sensor size (ncam x 2)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
mjtNum* cam_user; // user data (ncam x nuser_cam)
include/mujoco/mjvisualize.h
+2
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@@ -199,6 +199,7 @@ struct mjvGLCamera_ { // OpenGL camera
// camera projection
float frustum_center; // hor. center (left,right set to match aspect)
float frustum_width; // width (not used for rendering)
float frustum_bottom; // bottom
float frustum_top; // top
float frustum_near; // near
@@ -454,6 +455,7 @@ struct mjvSceneState_ {
mjtNum* cam_fovy;
mjtNum* cam_ipd;
float* cam_sensorsize;
mjtByte* light_directional;
mjtByte* light_castshadow;
include/mujoco/mjxmacro.h
+2
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@@ -261,6 +261,8 @@
X ( int, cam_bodyid, ncam, 1 ) \
X ( int, cam_targetbodyid, ncam, 1 ) \
X ( int, cam_resolution, ncam, 2 ) \
XMJV( float, cam_sensorsize, ncam, 2 ) \
X ( float, cam_intrinsic, ncam, 4 ) \
X ( mjtNum, cam_pos, ncam, 3 ) \
X ( mjtNum, cam_quat, ncam, 4 ) \
X ( mjtNum, cam_poscom0, ncam, 3 ) \