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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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test/engine/engine_sensor_test.cc
+46
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@@ -432,5 +432,51 @@ TEST_F(SensorTest, Clock) {
mj_deleteModel(model);
}
// ------------------------- camera sensor tests -----------------------------
// test clock sensor
TEST_F(SensorTest, CameraProjection) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body pos="1.1 0 1">
<geom type="box" size=".1 .6 .375"/>
<site name="frontorigin" pos="-.1 .6 .375"/>
<site name="frontcorner" pos="-.1 -.6 -.375"/>
</body>
<body pos="-1.1 0 1">
<geom type="box" size=".1 .6 .375"/>
<site name="backcenter" pos="-.1 0 0"/>
</body>
<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
resolution="1920 1200" name="fixedcamera"/>
</worldbody>
<sensor>
<camprojection site="frontorigin" camera="fixedcamera"/>
<camprojection site="frontcorner" camera="fixedcamera"/>
<camprojection site="backcenter" camera="fixedcamera"/>
</sensor>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
mjData* data = mj_makeData(model);
// call step to update sensors
mj_step(model, data);
mj_step1(model, data); // update values of position-based sensors
EXPECT_THAT(model->cam_resolution[0], 1920);
EXPECT_THAT(model->cam_resolution[1], 1200);
mjtNum eps = 1e-4;
EXPECT_NEAR(data->sensordata[0], -0.5, eps);
EXPECT_NEAR(data->sensordata[1], -0.5, eps);
EXPECT_NEAR(data->sensordata[2], 1919.5, eps);
EXPECT_NEAR(data->sensordata[3], 1199.5, eps);
EXPECT_NEAR(data->sensordata[4], 959.5, eps);
EXPECT_NEAR(data->sensordata[5], 599.5, eps);
mj_deleteData(data);
mj_deleteModel(model);
}
} // namespace
} // namespace mujoco