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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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src/user/user_model.cc
+2
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@@ -1586,6 +1586,7 @@ void mjCModel::CopyTree(mjModel* m) {
copyvec(m->cam_quat+4*cid, pc->locquat, 4);
m->cam_fovy[cid] = (mjtNum)pc->fovy;
m->cam_ipd[cid] = (mjtNum)pc->ipd;
copyvec(m->cam_resolution+2*cid, pc->resolution, 2);
copyvec(m->cam_user+nuser_cam*cid, pc->userdata.data(), nuser_cam);
}
@@ -3044,6 +3045,7 @@ bool mjCModel::CopyBack(const mjModel* m) {
copyvec(cameras[i]->quat, m->cam_quat+4*i, 4);
cameras[i]->fovy = (double)m->cam_fovy[i];
cameras[i]->ipd = (double)m->cam_ipd[i];
copyvec(cameras[i]->resolution, m->cam_resolution+2*i, 2);
if (nuser_cam) {
copyvec(cameras[i]->userdata.data(), m->cam_user + nuser_cam*i, nuser_cam);