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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_objects.cc
+40
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@@ -17,6 +17,7 @@
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <sstream>
@@ -1950,6 +1951,12 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
ipd = 0.068;
userdata.clear();
resolution[0] = resolution[1] = 1;
principal_length[0] = principal_length[1] = 0;
principal_pixel[0] = principal_pixel[1] = 0;
focal_length[0] = focal_length[1] = 0;
focal_pixel[0] = focal_pixel[1] = 0;
sensor_size[0] = sensor_size[1] = 0;
mjuu_setvec(intrinsic, 0, 0, 0, 0);
// clear private variables
body = 0;
@@ -2010,6 +2017,39 @@ void mjCCamera::Compile(void) {
throw mjCError(this, "fovy too large in camera '%s' (id = %d, value = %d)",
name.c_str(), id, fovy);
}
// check that specs are not duplicated
if ((principal_length[0] && principal_pixel[0]) ||
(principal_length[1] && principal_pixel[1])) {
throw mjCError(this, "principal length duplicated in camera '%s' (id = %d)",
name.c_str(), id);
}
if ((focal_length[0] && focal_pixel[0]) ||
(focal_length[1] && focal_pixel[1])) {
throw mjCError(this, "focal length duplicated in camera '%s' (id = %d)",
name.c_str(), id);
}
// compute number of pixels per unit length
if (sensor_size[0]>0 && sensor_size[1]>0) {
float pixel_density[2] = {
(float)resolution[0] / sensor_size[0],
(float)resolution[1] / sensor_size[1],
};
// defaults are zero, so only one term in each sum is nonzero
intrinsic[0] = focal_pixel[0] / pixel_density[0] + focal_length[0];
intrinsic[1] = focal_pixel[1] / pixel_density[1] + focal_length[1];
intrinsic[2] = principal_pixel[0] / pixel_density[0] + principal_length[0];
intrinsic[3] = principal_pixel[1] / pixel_density[1] + principal_length[1];
// fovy with principal point at (0, 0)
fovy = mju_atan2((float)sensor_size[1]/2, intrinsic[1]) * 360.0 / mjPI;
} else {
intrinsic[0] = model->visual.map.znear;
intrinsic[1] = model->visual.map.znear;
}
}