Add more scene golden tests.

PiperOrigin-RevId: 812708484
Change-Id: Icba94b128c89097703611ac4f6974f6d1cb19b4d

test/testdata/frustum.xml

@@ -0,0 +1,33 @@
+<!-- Please activate Camera rendering when loading this model.
+     The frustum should match exactly the fron face of the box. -->
+
+<mujoco>
+  <visual>
+    <map znear="0.01"/>
+    <rgba frustum="1. 1. 0 0.2"/>
+    <scale frustum="3"/>
+  </visual>
+
+  <asset>
+    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
+    <material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
+    <texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 3"/>
+    <geom type="plane" size="10 10 .01"/>
+
+    <geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
+    <!-- 8mm focal length lenses -->
+    <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
+            sensorsize="9.6e-3 6e-3"/>
+
+    <body euler="0 0 90">
+      <geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
+      <!-- 8mm focal length lenses -->
+      <camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
+              sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
+    </body>
+  </worldbody>
+</mujoco>