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Refactor camera orthographic attribute to projection enum.

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PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
This commit is contained in:
Yuval Tassa
2025-12-20 03:27:42 -08:00
committed by Copybara-Service
parent 44c8ef890d
commit b8a4ac5d48
20 changed files with 102 additions and 44 deletions
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include/mujoco/mjmodel.h
+7 -1
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@@ -124,6 +124,12 @@ typedef enum mjtGeom_ { // type of geometric shape
} mjtGeom;
typedef enum mjtProjection_ { // type of camera projection
mjPROJ_PERSPECTIVE = 0, // perspective
mjPROJ_ORTHOGRAPHIC // orthographic
} mjtProjection;
typedef enum mjtCamLight_ { // tracking mode for camera and light
mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
@@ -882,7 +888,7 @@ struct mjModel_ {
mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
int* cam_orthographic; // orthographic camera; 0: no, 1: yes (ncam x 1)
int* cam_projection; // projection type (mjtProjection) (ncam x 1)
mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
include/mujoco/mjspec.h
+1 -1
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@@ -373,7 +373,7 @@ typedef struct mjsCamera_ { // camera specification
mjString* targetbody; // target body for tracking/targeting
// intrinsics
int orthographic; // is camera orthographic
mjtProjection proj; // camera projection type
double fovy; // y-field of view
double ipd; // inter-pupilary distance
float intrinsic[4]; // camera intrinsics (length)
include/mujoco/mjxmacro.h
+1 -1
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@@ -302,7 +302,7 @@
X ( mjtNum, cam_poscom0, ncam, 3 ) \
X ( mjtNum, cam_pos0, ncam, 3 ) \
X ( mjtNum, cam_mat0, ncam, 9 ) \
X ( int, cam_orthographic, ncam, 1 ) \
X ( int, cam_projection, ncam, 1 ) \
X ( mjtNum, cam_fovy, ncam, 1 ) \
X ( mjtNum, cam_ipd, ncam, 1 ) \
X ( int, cam_resolution, ncam, 2 ) \