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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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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