Specify camera parameters using standard robotics conventions.

PiperOrigin-RevId: 569147555 Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb
2023-09-28 05:18:36 -07:00
parent ca60de79c8
commit 36d2ffe4f2
28 changed files with 528 additions and 40 deletions
@@ -465,7 +465,13 @@ class mjCCamera : public mjCBase {
  double ipd;                     // inter-pupilary distance
  double pos[3];                  // position
  double quat[4];                 // orientation
+  float intrinsic[4];             // camera intrinsics [length]
+  float sensor_size[2];           // sensor size [length]
  float resolution[2];            // resolution [pixel]
+  float focal_length[2];          // focal length [length]
+  float focal_pixel[2];           // focal length [pixel]
+  float principal_length[2];      // principal point [length]
+  float principal_pixel[2];       // principal point [pixel]
  std::vector<double> userdata;   // user data
  mjCAlternative alt;             // alternative orientation specification