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Extend rangefinder sensor to support cameras.

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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
This commit is contained in:
Yuval Tassa
2025-12-23 12:03:37 -08:00
committed by Copybara-Service
parent 4a871990e9
commit 9d646e6548
17 changed files with 383 additions and 39 deletions
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src/engine/engine_sensor.c
+56 -5
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@@ -435,11 +435,62 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
break;
case mjSENS_RANGEFINDER: // rangefinder
rvec[0] = d->site_xmat[9*objid+2];
rvec[1] = d->site_xmat[9*objid+5];
rvec[2] = d->site_xmat[9*objid+8];
d->sensordata[adr] = mj_ray(m, d, d->site_xpos+3*objid, rvec, NULL, 1,
m->site_bodyid[objid], NULL);
if (objtype == mjOBJ_SITE) {
rvec[0] = d->site_xmat[9*objid+2];
rvec[1] = d->site_xmat[9*objid+5];
rvec[2] = d->site_xmat[9*objid+8];
d->sensordata[adr] = mj_ray(m, d, d->site_xpos+3*objid, rvec, NULL, 1,
m->site_bodyid[objid], NULL);
} else {
// camera-attached rangefinder: depth image
const int width = m->cam_resolution[2*objid];
const int height = m->cam_resolution[2*objid+1];
const int bodyexclude = m->cam_bodyid[objid];
const mjtNum* cam_xpos = d->cam_xpos + 3*objid;
const mjtNum* cam_xmat = d->cam_xmat + 9*objid;
const int projection = m->cam_projection[objid];
// compute focal length in pixels using helper
mjtNum fx, fy, cx, cy, ortho_extent;
mju_camIntrinsics(m, objid, &fx, &fy, &cx, &cy, &ortho_extent);
if (projection == mjPROJ_PERSPECTIVE) {
// perspective: all rays share origin, different directions
const int npixel = width * height;
mj_markStack(d);
mjtNum* vec = mjSTACKALLOC(d, 3*npixel, mjtNum);
int* geomid = mjSTACKALLOC(d, npixel, int);
// compute ray directions using helper (normalized)
for (int row = 0; row < height; row++) {
for (int col = 0; col < width; col++) {
int idx = row*width + col;
mjtNum origin[3];
mju_camPixelRay(origin, vec + 3*idx, cam_xpos, cam_xmat,
col, row, fx, fy, cx, cy, projection, ortho_extent);
}
}
// cast all rays
mj_multiRay(m, d, cam_xpos, vec, NULL, 1, bodyexclude,
geomid, d->sensordata + adr, npixel, mjMAXVAL);
mj_freeStack(d);
} else {
// orthographic: parallel rays, different origins
for (int row = 0; row < height; row++) {
for (int col = 0; col < width; col++) {
int idx = row*width + col;
mjtNum origin[3], direction[3];
mju_camPixelRay(origin, direction, cam_xpos, cam_xmat,
col, row, fx, fy, cx, cy, projection, ortho_extent);
d->sensordata[adr + idx] = mj_ray(m, d, origin, direction, NULL, 1,
bodyexclude, NULL);
}
}
}
}
break;