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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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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);