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Use mjvCamera directly for generating camera string.

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PiperOrigin-RevId: 824982264
Change-Id: I0d8760bb27153849c8f4dacb10aa3162f29c2f6e
This commit is contained in:
Haroon Qureshi
2025-10-28 05:18:00 -07:00
committed by Copybara-Service
parent e1a73f9c4c
commit 7ba0d96d77
3 changed files with 9 additions and 18 deletions
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src/experimental/studio/app.cc
+1 -1
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@@ -1701,7 +1701,7 @@ void App::RenderingGui() {
SetCamera(ui_.camera_idx); SetCamera(ui_.camera_idx);
} }
if (ImGui::Button("Copy Camera")) { if (ImGui::Button("Copy Camera")) {
std::string camera_string = toolbox::CameraToString(&scene); std::string camera_string = toolbox::CameraToString(Data(), &camera_);
toolbox::MaybeSaveToClipboard(camera_string); toolbox::MaybeSaveToClipboard(camera_string);
} }
src/experimental/toolbox/helpers.cc
+6 -15
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@@ -29,6 +29,7 @@
#include <mujoco/mjrender.h> #include <mujoco/mjrender.h>
#include <mujoco/mjxmacro.h> #include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "engine/engine_vis_visualize.h"
#include "xml/xml_api.h" #include "xml/xml_api.h"
namespace mujoco::toolbox { namespace mujoco::toolbox {
@@ -137,25 +138,15 @@ const void* GetValue(const mjModel* model, const mjData* data,
return nullptr; // Invalid field. return nullptr; // Invalid field.
} }
std::string CameraToString(const mjvScene* scene) { std::string CameraToString(const mjData* data, const mjvCamera* camera) {
const mjvGLCamera* cameras = scene->camera; mjtNum pos[3], forward[3], up[3], right[3];
const float pos_x = (cameras[0].pos[0] + cameras[1].pos[0]) / 2; mjv_cameraFrame(pos, forward, up, right, data, camera);
const float pos_y = (cameras[0].pos[1] + cameras[1].pos[1]) / 2;
const float pos_z = (cameras[0].pos[2] + cameras[1].pos[2]) / 2;
mjtNum cam_forward[3];
mju_f2n(cam_forward, cameras[0].forward, 3);
mjtNum cam_up[3];
mju_f2n(cam_up, cameras[0].up, 3);
mjtNum cam_right[3];
mju_cross(cam_right, cam_forward, cam_up);
char str[500]; char str[500];
std::snprintf(str, sizeof(str), std::snprintf(str, sizeof(str),
"<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f " "<camera pos=\"%.3f %.3f %.3f\" xyaxes=\"%.3f %.3f %.3f %.3f "
"%.3f %.3f\"/>\n", "%.3f %.3f\"/>\n",
pos_x, pos_y, pos_z, cam_right[0], cam_right[1], cam_right[2], pos[0], pos[1], pos[2], right[0], right[1], right[2],
cam_up[0], cam_up[1], cam_up[2]); up[0], up[1], up[2]);
return str; return str;
} }
src/experimental/toolbox/helpers.h
+2 -2
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@@ -54,8 +54,8 @@ mjModel* LoadMujocoModel(const std::string& model_file, const mjVFS* vfs);
const void* GetValue(const mjModel* model, const mjData* data, const void* GetValue(const mjModel* model, const mjData* data,
const char* field, int index); const char* field, int index);
// Returns an XML string representation of the scene cameras. // Returns an XML string representation of the camera.
std::string CameraToString(const mjvScene* scene); std::string CameraToString(const mjData* data, const mjvCamera* camera);
// Returns an XML string representation of current data keyframe. // Returns an XML string representation of current data keyframe.
std::string KeyframeToString(const mjModel* model, const mjData* data, std::string KeyframeToString(const mjModel* model, const mjData* data,