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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/xml/xml_native_reader.cc
+14 -3
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@@ -80,7 +80,7 @@ void ReadPluginConfigs(tinyxml2::XMLElement* elem, mjCPlugin* pp) {
//---------------------------------- MJCF schema ---------------------------------------------------
static const int nMJCF = 203;
static const int nMJCF = 204;
static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
@@ -151,7 +151,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
{"site", "?", "13", "type", "group", "pos", "quat", "material",
"size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "?", "10", "fovy", "ipd", "pos", "quat",
{"camera", "?", "11", "fovy", "ipd", "pos", "quat", "resolution",
"axisangle", "xyaxes", "zaxis", "euler", "mode", "user"},
{"light", "?", "12", "pos", "dir", "directional", "castshadow", "active",
"attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
@@ -264,7 +264,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{">"},
{"site", "*", "15", "name", "class", "type", "group", "pos", "quat",
"material", "size", "fromto", "axisangle", "xyaxes", "zaxis", "euler", "rgba", "user"},
{"camera", "*", "13", "name", "class", "fovy", "ipd",
{"camera", "*", "14", "name", "class", "fovy", "ipd", "resolution",
"pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
"mode", "target", "user"},
{"light", "*", "15", "name", "class", "directional", "castshadow", "active",
@@ -398,6 +398,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"force", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"torque", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"magnetometer", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"camprojection", "*", "6", "name", "site", "camera", "cutoff", "noise", "user"},
{"rangefinder", "*", "5", "name", "site", "cutoff", "noise", "user"},
{"jointpos", "*", "5", "name", "joint", "cutoff", "noise", "user"},
{"jointvel", "*", "5", "name", "joint", "cutoff", "noise", "user"},
@@ -1476,6 +1477,10 @@ void mjXReader::OneCamera(XMLElement* elem, mjCCamera* pcam) {
ReadAlternative(elem, pcam->alt);
ReadAttr(elem, "fovy", 1, &pcam->fovy, text);
ReadAttr(elem, "ipd", 1, &pcam->ipd, text);
ReadAttr(elem, "resolution", 2, pcam->resolution, text);
if (pcam->resolution[0] < 0 || pcam->resolution[1] < 0) {
throw mjXError(elem, "camera resolution cannot be negative");
}
// read userdata
ReadVector(elem, "user", pcam->userdata, text);
@@ -3013,6 +3018,12 @@ void mjXReader::Sensor(XMLElement* section) {
psen->type = mjSENS_MAGNETOMETER;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
} else if (type=="camprojection") {
psen->type = mjSENS_CAMPROJECTION;
psen->objtype = mjOBJ_SITE;
ReadAttrTxt(elem, "site", psen->objname, true);
ReadAttrTxt(elem, "camera", psen->refname, true);
psen->reftype = mjOBJ_CAMERA;
} else if (type=="rangefinder") {
psen->type = mjSENS_RANGEFINDER;
psen->objtype = mjOBJ_SITE;