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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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src/user/user_model.cc
+3
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@@ -1623,6 +1623,8 @@ void mjCModel::CopyTree(mjModel* m) {
m->cam_fovy[cid] = (mjtNum)pc->fovy;
m->cam_ipd[cid] = (mjtNum)pc->ipd;
copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
copyvec(m->cam_sensorsize+2*cid, pc->sensor_size, 2);
copyvec(m->cam_intrinsic+4*cid, pc->intrinsic, 4);
copyvec(m->cam_user+nuser_cam*cid, pc->userdata.data(), nuser_cam);
}
@@ -3084,6 +3086,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
cameras[i]->fovy = (double)m->cam_fovy[i];
cameras[i]->ipd = (double)m->cam_ipd[i];
copyvec(cameras[i]->resolution, m->cam_resolution+2*i, 2);
copyvec(cameras[i]->intrinsic, m->cam_intrinsic+4*i, 4);
if (nuser_cam) {
copyvec(cameras[i]->userdata.data(), m->cam_user + nuser_cam*i, nuser_cam);