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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_util_misc.h
+7
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@@ -57,6 +57,13 @@ MJAPI void mju_geomSemiAxes(mjtNum semiaxes[3], const mjtNum size[3], mjtGeom ty
int mju_insideGeom(const mjtNum pos[3], const mjtNum mat[9], const mjtNum size[3], mjtGeom type,
const mjtNum point[3]);
// compute ray origin and direction for pixel (col, row) in camera image
// directions are normalized so ray functions return actual 3D distance
void mju_camPixelRay(mjtNum origin[3], mjtNum direction[3],
const mjtNum cam_xpos[3], const mjtNum cam_xmat[9],
int col, int row, mjtNum fx, mjtNum fy, mjtNum cx, mjtNum cy,
int projection, mjtNum ortho_extent);
// ----------------------------- Flex interpolation ------------------------------------------------
// evaluate the deformation gradient at p using the nodal dof values