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Add camera projection sensor.

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Add camera projection sensor.
END_PUBLIC

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_objects.cc
+22 -1
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@@ -1949,6 +1949,7 @@ mjCCamera::mjCCamera(mjCModel* _model, mjCDef* _def) {
fovy = 45;
ipd = 0.068;
userdata.clear();
resolution[0] = resolution[1] = 1;
// clear private variables
body = 0;
@@ -2003,6 +2004,12 @@ void mjCCamera::Compile(void) {
if (targetbodyid==body->id) {
throw mjCError(this, "parent-targeting in camera '%s' (id = %d)", name.c_str(), id);
}
// make sure the image size is finite
if (fovy >= 180) {
throw mjCError(this, "fovy too large in camera '%s' (id = %d, value = %d)",
name.c_str(), id, fovy);
}
}
@@ -4044,6 +4051,7 @@ void mjCSensor::Compile(void) {
case mjSENS_TORQUE:
case mjSENS_MAGNETOMETER:
case mjSENS_RANGEFINDER:
case mjSENS_CAMPROJECTION:
// must be attached to site
if (objtype!=mjOBJ_SITE) {
throw mjCError(this,
@@ -4054,19 +4062,32 @@ void mjCSensor::Compile(void) {
if (type==mjSENS_TOUCH || type==mjSENS_RANGEFINDER) {
dim = 1;
datatype = mjDATATYPE_POSITIVE;
} else if (type==mjSENS_CAMPROJECTION) {
dim = 2;
datatype = mjDATATYPE_REAL;
} else {
dim = 3;
datatype = mjDATATYPE_REAL;
}
// set stage
if (type==mjSENS_MAGNETOMETER || type==mjSENS_RANGEFINDER) {
if (type==mjSENS_MAGNETOMETER || type==mjSENS_RANGEFINDER || type==mjSENS_CAMPROJECTION) {
needstage = mjSTAGE_POS;
} else if (type==mjSENS_GYRO || type==mjSENS_VELOCIMETER) {
needstage = mjSTAGE_VEL;
} else {
needstage = mjSTAGE_ACC;
}
// check for camera resolution for camera projection sensor
if (type==mjSENS_CAMPROJECTION) {
mjCCamera* camref = (mjCCamera*) model->FindObject(mjOBJ_CAMERA, refname);
if (!camref->resolution[0] || !camref->resolution[1]) {
throw mjCError(this,
"camera projection sensor requires camera resolution '%s' (id = %d)",
name.c_str(), id);
}
}
break;
case mjSENS_JOINTPOS: