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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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test/user/user_objects_test.cc
+75
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@@ -754,6 +754,81 @@ TEST_F(CameraSpecTest, FovyLimits) {
mj_deleteModel(m);
}
TEST_F(CameraSpecTest, DuplicatedFocalIgnorePixel) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="0.01"/>
</visual>
<worldbody>
<body>
<geom size="1"/>
<camera focal="8e-3 8e-3" focalpixel="100 100"
resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_NEAR(m->cam_intrinsic[0], 5e-4, 1e-6); // focal length in meters (x)
EXPECT_NEAR(m->cam_intrinsic[1], 5e-4, 1e-6); // focal length in meters (y)
mj_deleteModel(m);
}
TEST_F(CameraSpecTest, FovyFromResolution) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="0.01"/>
</visual>
<worldbody>
<body>
<geom size="1"/>
<!-- 8mm focal length lenses -->
<camera focal="8e-3 8e-3" resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_NEAR(m->cam_fovy[0], 41.112, 1e-3);
EXPECT_NEAR(m->cam_intrinsic[0], 8e-3, 1e-6); // focal length in meters (x)
EXPECT_NEAR(m->cam_intrinsic[1], 8e-3, 1e-6); // focal length in meters (y)
EXPECT_EQ(m->cam_intrinsic[2], 0); // principal point in meters (x)
EXPECT_EQ(m->cam_intrinsic[3], 0); // principal point in meters (y)
mj_deleteModel(m);
}
TEST_F(CameraSpecTest, FovyFromResolutionPixel) {
static constexpr char xml[] = R"(
<mujoco>
<visual>
<map znear="0.01"/>
</visual>
<worldbody>
<body>
<geom size="1"/>
<!-- 8mm focal length lenses -->
<camera focalpixel="1600 1600" resolution="1920 1200" sensorsize="9.6e-3 6e-3"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull()) << error.data();
EXPECT_NEAR(m->cam_fovy[0], 41.112, 1e-3);
EXPECT_NEAR(m->cam_intrinsic[0], 8e-3, 1e-6); // focal length in meters (x)
EXPECT_NEAR(m->cam_intrinsic[1], 8e-3, 1e-6); // focal length in meters (y)
EXPECT_EQ(m->cam_intrinsic[2], 0); // principal point in meters (x)
EXPECT_EQ(m->cam_intrinsic[3], 0); // principal point in meters (y)
mj_deleteModel(m);
}
// ------------- test actuator order -------------------------------------------
using ActuatorTest = MujocoTest;