Extend rangefinder sensor to support cameras.

PiperOrigin-RevId: 848255889 Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
2025-12-23 12:03:37 -08:00
parent 4a871990e9
commit 9d646e6548
17 changed files with 383 additions and 39 deletions
@@ -120,6 +120,12 @@ MJAPI const char* mj_versionString(void);
 // return total size of data fields in a contact sensor bitfield specification
 MJAPI int mju_condataSize(int dataSpec);

+// compute camera pixel parameters from model
+// outputs: fx, fy (focal length in pixels), cx, cy (principal point), ortho_extent
+void mju_camIntrinsics(const mjModel* m, int camid,
+                       mjtNum* fx, mjtNum* fy, mjtNum* cx, mjtNum* cy,
+                       mjtNum* ortho_extent);
+
 #ifdef __cplusplus
 }
 #endif