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Add output attribute to camera elements.

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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.

PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
This commit is contained in:
Yuval Tassa
2026-01-07 10:19:35 -08:00
committed by Copybara-Service
parent 3c93d6b979
commit 608115ab95
18 changed files with 233 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/XMLreference.rst
+16
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@@ -2988,6 +2988,20 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
location to save the required resolution. Setting either value larger than 1
enables frustum visualization when the :ref:`mjVIS_CAMERA<mjtVisFlag>` visualization flag is active.
.. _body-camera-output:
:at:`output`: :at-val:`[rgb, depth, distance, normal, segmentation], "rgb"`
Types of output images supported by the camera.
- :at-val:`rgb`: RGB image.
- :at-val:`depth`: Depth image (distance from camera plane).
- :at-val:`distance`: Distance image (distance from camera origin).
- :at-val:`normal`: Surface normal image.
- :at-val:`segmentation`: Segmentation image.
This attribute is not used for rendering, but serves as a convenient location to save the output types supported by
the camera. The :at:`output` attribute can contain multiple types, e.g. :at-val:`"rgb normal"`.
.. _body-camera-sensorsize:
:at:`sensorsize`: :at-val:`real(2), "0 0"`
@@ -8715,6 +8729,8 @@ if omitted.
.. _default-camera-resolution:
.. _default-camera-output:
.. _default-camera-ipd:
.. _default-camera-pos:
doc/XMLschema.rst
+6
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@@ -1045,6 +1045,9 @@
.. grid-item::
:ref:`resolution<body-camera-resolution>`
.. grid-item::
:ref:`output<body-camera-output>`
.. grid-item::
:ref:`pos<body-camera-pos>`
@@ -4705,6 +4708,9 @@
.. grid-item::
:ref:`resolution<default-camera-resolution>`
.. grid-item::
:ref:`output<default-camera-output>`
.. grid-item::
:ref:`pos<default-camera-pos>`
doc/changelog.rst
+2
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@@ -30,6 +30,8 @@ General
attribute. In this case, the sensor will cast multiple ray, one for each pixel.
- Rangefinder sensors can now now report various kinds of information besides ray distances, including surface normals.
See :ref:`rangefinder<sensor-rangefinder>` for details.
- Cameras now have an :ref:`output<body-camera-output>` attribute, parsed into the ``mjModel.cam_output`` bitfield.
Unused by the renderer, it serves as a convenient location to store a camera's supported output types.
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from
doc/includes/references.h
+11
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@@ -786,6 +786,15 @@ typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
mjNRAYDATA // number of rangefinder sensor data fields
} mjtRayDataField;
typedef enum mjtCamOutBit_ { // camera output type bitflags
mjCAMOUT_RGB = 1<<0, // RGB image
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
mjCAMOUT_NORMAL = 1<<3, // normal image
mjCAMOUT_SEG = 1<<4, // segmentation image
mjNCAMOUT = 5 // number of camera output types
} mjtCamOutBit;
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
mjSAMEFRAME_NONE = 0, // no alignment
mjSAMEFRAME_BODY, // frame is same as body frame
@@ -1240,6 +1249,7 @@ struct mjModel_ {
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
int* cam_output; // output types (mjtCamOut bit flags) (ncam x 1)
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
mjtNum* cam_user; // user data (ncam x nuser_cam)
@@ -2117,6 +2127,7 @@ typedef struct mjsCamera_ { // camera specification
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
int output; // bit flags for output type
double fovy; // y-field of view
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
include/mujoco/mjmodel.h
+12
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@@ -416,6 +416,17 @@ typedef enum mjtRayDataField_ { // data fields returned by rangefinder sensors
} mjtRayDataField;
typedef enum mjtCamOutBit_ { // camera output type bitflags
mjCAMOUT_RGB = 1<<0, // RGB image
mjCAMOUT_DEPTH = 1<<1, // depth image (distance from camera plane)
mjCAMOUT_DIST = 1<<2, // distance image (distance from camera origin)
mjCAMOUT_NORMAL = 1<<3, // normal image
mjCAMOUT_SEG = 1<<4, // segmentation image
mjNCAMOUT = 5 // number of camera output types
} mjtCamOutBit;
typedef enum mjtSameFrame_ { // frame alignment of bodies with their children
mjSAMEFRAME_NONE = 0, // no alignment
mjSAMEFRAME_BODY, // frame is same as body frame
@@ -903,6 +914,7 @@ struct mjModel_ {
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
int* cam_output; // output types (mjtCamOut bit flags) (ncam x 1)
float* cam_sensorsize; // sensor size: length [width, height] (ncam x 2)
float* cam_intrinsic; // [focal length; principal point] (ncam x 4)
mjtNum* cam_user; // user data (ncam x nuser_cam)
include/mujoco/mjspec.h
+1
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@@ -375,6 +375,7 @@ typedef struct mjsCamera_ { // camera specification
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
int output; // bit flags for output type
double fovy; // y-field of view
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
include/mujoco/mjxmacro.h
+1
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@@ -306,6 +306,7 @@
X ( mjtNum, cam_fovy, ncam, 1 ) \
X ( mjtNum, cam_ipd, ncam, 1 ) \
X ( int, cam_resolution, ncam, 2 ) \
X ( int, cam_output, ncam, 1 ) \
X ( float, cam_sensorsize, ncam, 2 ) \
X ( float, cam_intrinsic, ncam, 4 ) \
X ( mjtNum, cam_user, ncam, MJ_M(nuser_cam) )
python/mujoco/introspect/enums.py
+13
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@@ -430,6 +430,19 @@ ENUMS: Mapping[str, EnumDecl] = dict([
('mjNRAYDATA', 6),
]),
)),
('mjtCamOutBit',
EnumDecl(
name='mjtCamOutBit',
declname='enum mjtCamOutBit_',
values=dict([
('mjCAMOUT_RGB', 1),
('mjCAMOUT_DEPTH', 2),
('mjCAMOUT_DIST', 4),
('mjCAMOUT_NORMAL', 8),
('mjCAMOUT_SEG', 16),
('mjNCAMOUT', 5),
]),
)),
('mjtSameFrame',
EnumDecl(
name='mjtSameFrame',
python/mujoco/introspect/structs.py
+13
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@@ -2275,6 +2275,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='resolution: pixels [width, height]',
array_extent=('ncam', 2),
),
StructFieldDecl(
name='cam_output',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='output types (mjtCamOut bit flags)',
array_extent=('ncam',),
),
StructFieldDecl(
name='cam_sensorsize',
type=PointerType(
@@ -7578,6 +7586,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='resolution (pixel)',
),
StructFieldDecl(
name='output',
type=ValueType(name='int'),
doc='bit flags for output type',
),
StructFieldDecl(
name='fovy',
type=ValueType(name='double'),
src/user/user_init.c
+1 -25
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@@ -21,7 +21,6 @@
#include "user/user_api.h"
// default model attributes
void mjs_defaultSpec(mjSpec* spec) {
memset(spec, 0, sizeof(mjSpec));
@@ -66,14 +65,12 @@ void mjs_defaultSpec(mjSpec* spec) {
}
// default orientation attributes
void mjs_defaultOrientation(mjsOrientation* orient) {
memset(orient, 0, sizeof(mjsOrientation));
}
// default body attributes
void mjs_defaultBody(mjsBody* body) {
memset(body, 0, sizeof(mjsBody));
@@ -88,7 +85,6 @@ void mjs_defaultBody(mjsBody* body) {
}
// default frame attributes
void mjs_defaultFrame(mjsFrame* frame) {
memset(frame, 0, sizeof(mjsFrame));
@@ -96,7 +92,6 @@ void mjs_defaultFrame(mjsFrame* frame) {
}
// default joint attributes
void mjs_defaultJoint(mjsJoint* joint) {
memset(joint, 0, sizeof(mjsJoint));
@@ -110,7 +105,6 @@ void mjs_defaultJoint(mjsJoint* joint) {
}
// default geom attributes
void mjs_defaultGeom(mjsGeom* geom) {
memset(geom, 0, sizeof(mjsGeom));
@@ -153,7 +147,6 @@ void mjs_defaultGeom(mjsGeom* geom) {
}
// default site attributes
void mjs_defaultSite(mjsSite* site) {
memset(site, 0, sizeof(mjsSite));
@@ -172,7 +165,6 @@ void mjs_defaultSite(mjsSite* site) {
}
// default cam attributes
void mjs_defaultCamera(mjsCamera* cam) {
memset(cam, 0, sizeof(mjsCamera));
@@ -187,10 +179,10 @@ void mjs_defaultCamera(mjsCamera* cam) {
cam->fovy = 45;
cam->ipd = 0.068;
cam->resolution[0] = cam->resolution[1] = 1;
cam->output = mjCAMOUT_RGB;
}
// default light attributes
void mjs_defaultLight(mjsLight* light) {
memset(light, 0, sizeof(mjsLight));
@@ -215,7 +207,6 @@ void mjs_defaultLight(mjsLight* light) {
}
// default flex attributes
void mjs_defaultFlex(mjsFlex* flex) {
memset(flex, 0, sizeof(mjsFlex));
@@ -242,7 +233,6 @@ void mjs_defaultFlex(mjsFlex* flex) {
}
// default mesh attributes
void mjs_defaultMesh(mjsMesh* mesh) {
memset(mesh, 0, sizeof(mjsMesh));
@@ -253,14 +243,12 @@ void mjs_defaultMesh(mjsMesh* mesh) {
}
// default height field attributes
void mjs_defaultHField(mjsHField* hfield) {
memset(hfield, 0, sizeof(mjsHField));
}
// default skin attributes
void mjs_defaultSkin(mjsSkin* skin) {
memset(skin, 0, sizeof(mjsSkin));
@@ -269,7 +257,6 @@ void mjs_defaultSkin(mjsSkin* skin) {
}
// default texture attributes
void mjs_defaultTexture(mjsTexture* texture) {
memset(texture, 0, sizeof(mjsTexture));
@@ -285,7 +272,6 @@ void mjs_defaultTexture(mjsTexture* texture) {
}
// default material attributes
void mjs_defaultMaterial(mjsMaterial* material) {
memset(material, 0, sizeof(mjsMaterial));
@@ -298,7 +284,6 @@ void mjs_defaultMaterial(mjsMaterial* material) {
}
// default pair attributes
void mjs_defaultPair(mjsPair* pair) {
memset(pair, 0, sizeof(mjsPair));
@@ -312,7 +297,6 @@ void mjs_defaultPair(mjsPair* pair) {
}
// default equality attributes
void mjs_defaultEquality(mjsEquality* equality) {
memset(equality, 0, sizeof(mjsEquality));
@@ -324,7 +308,6 @@ void mjs_defaultEquality(mjsEquality* equality) {
}
// default tendon attributes
void mjs_defaultTendon(mjsTendon* tendon) {
memset(tendon, 0, sizeof(mjsTendon));
@@ -338,7 +321,6 @@ void mjs_defaultTendon(mjsTendon* tendon) {
}
// default actuator attributes
void mjs_defaultActuator(mjsActuator* actuator) {
memset(actuator, 0, sizeof(mjsActuator));
@@ -364,7 +346,6 @@ void mjs_defaultActuator(mjsActuator* actuator) {
}
// default sensor attributes
void mjs_defaultSensor(mjsSensor* sensor) {
memset(sensor, 0, sizeof(mjsSensor));
@@ -375,35 +356,30 @@ void mjs_defaultSensor(mjsSensor* sensor) {
}
// Default numeric attributes.
void mjs_defaultNumeric(mjsNumeric* numeric) {
memset(numeric, 0, sizeof(mjsNumeric));
}
// Default text attributes.
void mjs_defaultText(mjsText* text) {
memset(text, 0, sizeof(mjsText));
}
// Default tuple attributes.
void mjs_defaultTuple(mjsTuple* tuple) {
memset(tuple, 0, sizeof(mjsTuple));
}
// Default keyframe attributes.
void mjs_defaultKey(mjsKey* key) {
memset(key, 0, sizeof(mjsKey));
}
// default plugin attributes
void mjs_defaultPlugin(mjsPlugin* plugin) {
memset(plugin, 0, sizeof(mjsPlugin));
src/user/user_model.cc
+1
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@@ -2868,6 +2868,7 @@ void mjCModel::CopyTree(mjModel* m) {
m->cam_fovy[cid] = (mjtNum)pc->fovy;
m->cam_ipd[cid] = (mjtNum)pc->ipd;
mjuu_copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
m->cam_output[cid] = pc->output;
mjuu_copyvec(m->cam_sensorsize+2*cid, pc->sensor_size, 2);
mjuu_copyvec(m->cam_intrinsic+4*cid, pc->intrinsic, 4);
mjuu_copyvec(m->cam_user+nuser_cam*cid, pc->get_userdata().data(), nuser_cam);
src/xml/xml_base.h
+2
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@@ -45,6 +45,7 @@ extern const int gain_sz;
extern const int bias_sz;
extern const int stage_sz;
extern const int datatype_sz;
extern const int camout_sz;
extern const int reduce_sz;
extern const mjMap angle_map[];
extern const mjMap enable_map[];
@@ -77,6 +78,7 @@ extern const mjMap stage_map[];
extern const mjMap datatype_map[];
extern const mjMap condata_map[];
extern const mjMap raydata_map[];
extern const mjMap camout_map[];
extern const mjMap reduce_map[];
extern const mjMap meshtype_map[];
extern const mjMap meshinertia_map[];
src/xml/xml_native_reader.cc
+20 -2
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@@ -171,7 +171,7 @@ std::vector<const char*> MJCF[nMJCF] = {
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"site", "?", "type", "group", "pos", "quat", "material",
"size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "?", "projection", "fovy", "ipd", "resolution", "pos", "quat",
{"camera", "?", "projection", "fovy", "ipd", "resolution", "output", "pos", "quat",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "focal", "focalpixel",
"principal", "principalpixel", "sensorsize", "user"},
{"light", "?", "pos", "dir", "bulbradius", "intensity", "range",
@@ -285,7 +285,7 @@ std::vector<const char*> MJCF[nMJCF] = {
{"attach", "*", "model", "body", "prefix"},
{"site", "*", "name", "class", "type", "group", "pos", "quat",
"material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "pos",
{"camera", "*", "name", "class", "projection", "fovy", "ipd", "resolution", "output", "pos",
"quat", "axisangle", "xyaxes", "zaxis", "euler", "mode", "target",
"focal", "focalpixel", "principal", "principalpixel", "sensorsize", "user"},
{"light", "*", "name", "class", "directional", "type", "castshadow", "active",
@@ -793,6 +793,13 @@ const mjMap raydata_map[mjNRAYDATA] = {
{"depth", mjRAYDATA_DEPTH}
};
// camera output type
const int camout_sz = mjNCAMOUT;
const mjMap camout_map[mjNCAMOUT] = {{"rgb", mjCAMOUT_RGB},
{"depth", mjCAMOUT_DEPTH},
{"distance", mjCAMOUT_DIST},
{"normal", mjCAMOUT_NORMAL},
{"segmentation", mjCAMOUT_SEG}};
// contact reduction type
const int reduce_sz = 4;
@@ -1953,6 +1960,17 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
ReadAttr(elem, "focalpixel", 2, camera->focal_pixel, text);
ReadAttr(elem, "focal", 2, camera->focal_length, text);
ReadAttr(elem, "resolution", 2, camera->resolution, text);
// read output attribute as space-separated bitflags
std::vector<int> outvals(mjNCAMOUT);
int nout = MapValues(elem, "output", outvals.data(), camout_map, mjNCAMOUT);
if (nout) {
camera->output = 0;
for (int i = 0; i < nout; ++i) {
camera->output |= outvals[i];
}
}
bool sensorsize = ReadAttr(elem, "sensorsize", 2, camera->sensor_size, text);
bool fovy = ReadAttr(elem, "fovy", 1, &camera->fovy, text);
if (fovy && sensorsize) {
src/xml/xml_native_writer.cc
+13
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@@ -573,6 +573,19 @@ void mjXWriter::OneCamera(XMLElement* elem, const mjCCamera* camera, mjCDef* def
WriteAttr(elem, "ipd", 1, &camera->ipd, &def->Camera().ipd);
WriteAttrKey(elem, "mode", camlight_map, camlight_sz, camera->mode, def->Camera().mode);
WriteAttr(elem, "resolution", 2, camera->resolution, def->Camera().resolution);
// write output attribute if different from default
if (camera->output != def->Camera().output) {
int data[mjNCAMOUT];
int ndata = 0;
for (int i = 0; i < mjNCAMOUT; i++) {
if (camera->output & camout_map[i].value) {
data[ndata++] = camout_map[i].value;
}
}
WriteAttrKeys(elem, "output", camout_map, camout_sz, data, ndata, 0);
}
WriteAttrKey(elem, "projection", projection_map, projection_sz, camera->proj, def->Camera().proj);
// camera intrinsics if specified
test/xml/xml_native_reader_test.cc
+46
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@@ -3244,5 +3244,51 @@ TEST_F(XMLReaderTest, LightRadius) {
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, CameraOutput) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<camera name="default_cam"/>
<camera name="single_cam" output="depth"/>
<camera name="multi_cam" output="rgb normal segmentation"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->ncam, 3);
EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB); // default
EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH);
EXPECT_EQ(model->cam_output[2],
mjCAMOUT_RGB | mjCAMOUT_NORMAL | mjCAMOUT_SEG);
mj_deleteModel(model);
}
TEST_F(XMLReaderTest, CameraOutputDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="multi">
<camera output="depth distance"/>
</default>
</default>
<worldbody>
<camera name="default_cam"/>
<camera name="class_cam" class="multi"/>
<camera name="override_cam" class="multi" output="normal"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_EQ(model->ncam, 3);
EXPECT_EQ(model->cam_output[0], mjCAMOUT_RGB); // main default
EXPECT_EQ(model->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
EXPECT_EQ(model->cam_output[2], mjCAMOUT_NORMAL);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
test/xml/xml_native_writer_test.cc
+48
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@@ -1672,5 +1672,53 @@ TEST_F(XMLWriterTest, ExpandAttach) {
mj_deleteVFS(vfs.get());
}
TEST_F(XMLWriterTest, WritesCameraOutput) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<camera name="default_cam"/>
<camera name="multi_cam" output="depth normal"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
// default output="rgb" should not be written
EXPECT_THAT(saved_xml, Not(HasSubstr("output=\"rgb\"")));
// non-default output should be written
EXPECT_THAT(saved_xml, HasSubstr("output=\"depth normal\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, WritesCameraOutputDefault) {
static constexpr char xml[] = R"(
<mujoco>
<default>
<default class="multi">
<camera output="depth distance"/>
</default>
</default>
<worldbody>
<camera name="default_cam"/>
<camera name="class_cam" class="multi"/>
<camera name="override_cam" class="multi" output="segmentation"/>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
std::string saved_xml = SaveAndReadXml(model);
// save and reload to verify round-trip
mjModel* mtemp = LoadModelFromString(saved_xml);
ASSERT_THAT(mtemp, NotNull());
EXPECT_EQ(mtemp->ncam, 3);
EXPECT_EQ(mtemp->cam_output[0], mjCAMOUT_RGB);
EXPECT_EQ(mtemp->cam_output[1], mjCAMOUT_DEPTH | mjCAMOUT_DIST);
EXPECT_EQ(mtemp->cam_output[2], mjCAMOUT_SEG);
mj_deleteModel(mtemp);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco
unity/Runtime/Bindings/MjBindings.cs
+9
View File
@@ -440,6 +440,14 @@ public enum mjtRayDataField : int{
mjRAYDATA_DEPTH = 5,
mjNRAYDATA = 6,
}
public enum mjtCamOutBit : int{
mjCAMOUT_RGB = 1,
mjCAMOUT_DEPTH = 2,
mjCAMOUT_DIST = 4,
mjCAMOUT_NORMAL = 8,
mjCAMOUT_SEG = 16,
mjNCAMOUT = 5,
}
public enum mjtSameFrame : int{
mjSAMEFRAME_NONE = 0,
mjSAMEFRAME_BODY = 1,
@@ -5491,6 +5499,7 @@ public unsafe struct mjModel_ {
public double* cam_fovy;
public double* cam_ipd;
public int* cam_resolution;
public int* cam_output;
public float* cam_sensorsize;
public float* cam_intrinsic;
public double* cam_user;
wasm/codegen/generated/bindings.cc
+18
View File
@@ -3138,6 +3138,12 @@ struct MjsCamera {
emscripten::val resolution() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
}
int output() const {
return ptr_->output;
}
void set_output(int value) {
ptr_->output = value;
}
double fovy() const {
return ptr_->fovy;
}
@@ -4174,6 +4180,9 @@ struct MjModel {
emscripten::val cam_resolution() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_resolution));
}
emscripten::val cam_output() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_output));
}
emscripten::val cam_sensorsize() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_sensorsize));
}
@@ -10191,6 +10200,13 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjCAMLIGHT_TRACKCOM", mjCAMLIGHT_TRACKCOM)
.value("mjCAMLIGHT_TARGETBODY", mjCAMLIGHT_TARGETBODY)
.value("mjCAMLIGHT_TARGETBODYCOM", mjCAMLIGHT_TARGETBODYCOM);
enum_<mjtCamOutBit>("mjtCamOutBit")
.value("mjCAMOUT_RGB", mjCAMOUT_RGB)
.value("mjCAMOUT_DEPTH", mjCAMOUT_DEPTH)
.value("mjCAMOUT_DIST", mjCAMOUT_DIST)
.value("mjCAMOUT_NORMAL", mjCAMOUT_NORMAL)
.value("mjCAMOUT_SEG", mjCAMOUT_SEG)
.value("mjNCAMOUT", mjNCAMOUT);
enum_<mjtCamera>("mjtCamera")
.value("mjCAMERA_FREE", mjCAMERA_FREE)
.value("mjCAMERA_TRACKING", mjCAMERA_TRACKING)
@@ -11043,6 +11059,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("cam_ipd", &MjModel::cam_ipd)
.property("cam_mat0", &MjModel::cam_mat0)
.property("cam_mode", &MjModel::cam_mode)
.property("cam_output", &MjModel::cam_output)
.property("cam_pos", &MjModel::cam_pos)
.property("cam_pos0", &MjModel::cam_pos0)
.property("cam_poscom0", &MjModel::cam_poscom0)
@@ -11744,6 +11761,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("intrinsic", &MjsCamera::intrinsic)
.property("ipd", &MjsCamera::ipd, &MjsCamera::set_ipd, reference())
.property("mode", &MjsCamera::mode, &MjsCamera::set_mode, reference())
.property("output", &MjsCamera::output, &MjsCamera::set_output, reference())
.property("pos", &MjsCamera::pos)
.property("principal_length", &MjsCamera::principal_length)
.property("principal_pixel", &MjsCamera::principal_pixel)