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Add camera projection sensor.

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Add camera projection sensor.
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PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
This commit is contained in:
Alessio Quaglino
2023-09-12 08:15:14 -07:00
committed by Copybara-Service
parent ccda87aafa
commit 8064ad59c8
19 changed files with 369 additions and 75 deletions
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doc/XMLreference.rst
+42 -1
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@@ -3054,6 +3054,13 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
Vertical field of view of the camera, expressed in degrees regardless of the global angle setting. The horizontal
field of view is computed automatically given the window size and the vertical field of view.
.. _body-camera-resolution:
:at:`resolution`: :at-val:`int(2), "1 1"`
Resolution of the camera in pixels [width height]. Note that these values are not used for rendering since those
dimensions are determined by the size of the rendering context. This attribute serves as a convenient
location to save the required resolution when creating a context.
.. _body-camera-ipd:
:at:`ipd`: :at-val:`real, "0.068"`
@@ -5412,7 +5419,6 @@ site frame. The output is a 3D vector.
:at:`site`: :at-val:`string, required`
The site where the sensor is attached.
.. _sensor-rangefinder:
:el-prefix:`sensor/` |-| **rangefinder** (*)
@@ -5441,6 +5447,39 @@ excluded; this is because sensor calculations are independent of the visualizer.
:at:`site`: :at-val:`string, required`
The site where the sensor is attached.
.. _sensor-camprojection:
:el-prefix:`sensor/` |-| **camprojection** (*)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a camprojection sensor, which returns the location of a target site, projected onto a camera image
in pixel coordinates. The origin of this system is located at the center of the top left pixel, so a target which
projects exactly onto the corner of the image, will have value (-0.5, -0.5). Values are not clipped, so targets which
fall outside the camera image will take values above or below the pixel limits. Moreover, points behind the camera
are also projected onto the image, so it is up to the user to filter out such points, if desired. This can be done using
a `framepos<sensor-framepos>` sensor with the camera as reference frame, then a negative/positive value in the
z-coordinate indicates (respectively) a location in the front/back of the camera.
.. _sensor-camprojection-site:
:at:`site`: :at-val:`string, required`
The site which is projected on to the camera image.
.. _sensor-camprojection-camera:
:at:`camera`: :at-val:`string, required`
The camera used for the projection, its :ref:`resolution<body-camera-resolution>` attribute must be positive.
.. _sensor-camprojection-name:
.. _sensor-camprojection-noise:
.. _sensor-camprojection-cutoff:
.. _sensor-camprojection-user:
:at:`name`, :at:`noise`, :at:`cutoff`, :at:`user`
See :ref:`CSensor`.
.. _sensor-jointpos:
@@ -6655,6 +6694,8 @@ if omitted.
.. _default-camera-fovy:
.. _default-camera-resolution:
.. _default-camera-ipd:
.. _default-camera-pos: