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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
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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) {