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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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introspect/structs.py
+26
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@@ -1899,6 +1899,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='y-field of view (deg) (ncam x 1)',
),
StructFieldDecl(
name='cam_intrinsic',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='[focal length; principal point] (ncam x 4)',
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='sensor size (ncam x 2)',
),
StructFieldDecl(
name='cam_ipd',
type=PointerType(
@@ -4730,6 +4744,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='float'),
doc='hor. center (left,right set to match aspect)',
),
StructFieldDecl(
name='frustum_width',
type=ValueType(name='float'),
doc='width (not used for rendering)',
),
StructFieldDecl(
name='frustum_bottom',
type=ValueType(name='float'),
@@ -5885,6 +5904,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='',
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
inner_type=ValueType(name='float'),
),
doc='',
),
StructFieldDecl(
name='light_directional',
type=PointerType(