chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Specify camera parameters using standard robotics conventions.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_writer.cc
+14 -1
View File
@@ -406,10 +406,23 @@ void mjXWriter::OneCamera(XMLElement* elem, mjCCamera* pcam, mjCDef* def) {
// defaults and regular
WriteAttr(elem, "ipd", 1, &pcam->ipd, &def->camera.ipd);
WriteAttr(elem, "fovy", 1, &pcam->fovy, &def->camera.fovy);
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, pcam->mode, def->camera.mode);
WriteAttr(elem, "resolution", 2, pcam->resolution, def->camera.resolution);
// resolution if positive
WriteAttr(elem, "resolution", 2, pcam->resolution, def->camera.resolution);
// camera intrinsics if specified
if (pcam->sensor_size[0]>0 && pcam->sensor_size[1]>0) {
WriteAttr(elem, "sensorsize", 2, pcam->sensor_size);
WriteAttr(elem, "focal", 2, pcam->focal_length, def->camera.focal_length);
WriteAttr(elem, "focalpixel", 2, pcam->focal_pixel, def->camera.focal_pixel);
WriteAttr(elem, "principal", 2, pcam->principal_length, def->camera.principal_length);
WriteAttr(elem, "principalpixel", 2, pcam->principal_pixel, def->camera.principal_pixel);
} else {
WriteAttr(elem, "fovy", 1, &pcam->fovy, &def->camera.fovy);
}
// userdata
if (writingdefaults) {
WriteVector(elem, "user", pcam->userdata);