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Set camera origin at top-left of the first pixel.

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PiperOrigin-RevId: 564768176
Change-Id: Ieef632f0f6888390acca91b6de01c8951c747fe4
This commit is contained in:
Alessio Quaglino
2023-09-12 10:43:59 -07:00
committed by Copybara-Service
parent 8064ad59c8
commit b0abafe3bb
3 changed files with 10 additions and 10 deletions
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doc/XMLreference.rst
+2 -2
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@@ -5453,8 +5453,8 @@ excluded; this is because sensor calculations are independent of the visualizer.
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
This element creates a camprojection sensor, which returns the location of a target site, projected onto a camera image
in pixel coordinates. The origin of this system is located at the center of the top left pixel, so a target which
projects exactly onto the corner of the image, will have value (-0.5, -0.5). Values are not clipped, so targets which
in pixel coordinates. The origin of this system is located at the top-left corner of the first pixel, so a target
which projects exactly onto the corner of the image, will have value (0, 0). Values are not clipped, so targets which
fall outside the camera image will take values above or below the pixel limits. Moreover, points behind the camera
are also projected onto the image, so it is up to the user to filter out such points, if desired. This can be done using
a `framepos<sensor-framepos>` sensor with the camera as reference frame, then a negative/positive value in the
src/engine/engine_sensor.c
+2 -2
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@@ -225,8 +225,8 @@ static void cam_project(mjtNum sensordata[2], const mjtNum target_xpos[3],
image[0][0] = 1;
image[1][1] = 1;
image[2][2] = 1;
image[0][2] = ((mjtNum)cam_res[0] - 1) / 2.0;
image[1][2] = ((mjtNum)cam_res[1] - 1) / 2.0;
image[0][2] = (mjtNum)cam_res[0] / 2.0;
image[1][2] = (mjtNum)cam_res[1] / 2.0;
// projection matrix (3x4): product of all 4 matrices
mjtNum proj[3][4] = {0};
test/engine/engine_sensor_test.cc
+6 -6
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@@ -467,12 +467,12 @@ TEST_F(SensorTest, CameraProjection) {
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);
EXPECT_NEAR(data->sensordata[0], 0, eps);
EXPECT_NEAR(data->sensordata[1], 0, eps);
EXPECT_NEAR(data->sensordata[2], 1920, eps);
EXPECT_NEAR(data->sensordata[3], 1200, eps);
EXPECT_NEAR(data->sensordata[4], 960, eps);
EXPECT_NEAR(data->sensordata[5], 600, eps);
mj_deleteData(data);
mj_deleteModel(model);