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Add frustum visualization for orthographic cameras.

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PiperOrigin-RevId: 847698917
Change-Id: I13633e8ba2d4718b127a5838c404ab74c6180e3d
This commit is contained in:
Yuval Tassa
2025-12-22 03:42:46 -08:00
committed by Copybara-Service
parent 158525269b
commit c7f5766345
4 changed files with 43 additions and 32 deletions
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src/engine/engine_vis_visualize.c
+29 -20
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@@ -539,21 +539,13 @@ void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2], const mjMod
const float znear = m->vis.map.znear * m->stat.extent;
if (orthographic) {
if (zver) {
zver[0] = zver[1] = fovy / 2;
}
if (zhor) {
zhor[0] = zhor[1] = 0.0f;
}
if (zver) zver[0] = zver[1] = fovy / 2;
if (zhor) zhor[0] = zhor[1] = 0.0f;
} else if (intrinsic) {
getFrustum(zver, zhor, znear, intrinsic, sensorsize);
} else {
if (zver) {
zver[0] = zver[1] = znear * mju_tan(fovy * mjPI/360.0);
}
if (zhor) {
zhor[0] = zhor[1] = 0.0f;
}
if (zver) zver[0] = zver[1] = znear * mju_tan(fovy * mjPI/360.0);
if (zhor) zhor[0] = zhor[1] = 0.0f;
}
if (zclip) {
@@ -2232,8 +2224,8 @@ static void addCameraGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, m
float cam_rgba[4];
f2f(cam_rgba, m->vis.rgba.camera, 4);
// draw frustum if sensorsize is defined
if (m->cam_sensorsize[2*i+1] > 0) {
// draw frustum if resolution larger than (1, 1)
if (m->cam_resolution[2*i] > 1 || m->cam_resolution[2*i+1] > 1) {
// when drawing frustum, make camera translucent
cam_rgba[3] = 0.3;
@@ -2244,9 +2236,22 @@ static void addCameraGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, m
mjtNum znear = m->vis.map.znear * m->stat.extent;
mjtNum zfar = m->vis.scale.frustum * scl;
float zver[2], zhor[2];
int orthographic = m->cam_projection[i] == mjPROJ_ORTHOGRAPHIC;
// get frustum
getFrustum(zver, zhor, znear, m->cam_intrinsic + 4*i, m->cam_sensorsize + 2*i);
if (orthographic) {
float aspect = (float)m->cam_resolution[2*i] / m->cam_resolution[2*i+1];
zver[0] = zver[1] = m->cam_fovy[i] / 2;
zhor[0] = zhor[1] = m->cam_fovy[i] * aspect / 2;
} else if (m->cam_sensorsize[2*i] && m->cam_sensorsize[2*i+1]) {
// intrinsic-based perspective camera
getFrustum(zver, zhor, znear, m->cam_intrinsic+4*i, m->cam_sensorsize+2*i);
} else {
// fovy-based perspective camera
float aspect = (float)m->cam_resolution[2*i] / m->cam_resolution[2*i+1];
zver[0] = zver[1] = znear * mju_tan(m->cam_fovy[i] * mjPI / 360.0);
zhor[0] = zhor[1] = zver[0] * aspect;
}
// frustum frame to convert from planes to vertex representation
mjtNum* cam_xpos = d->cam_xpos+3*i;
@@ -2266,11 +2271,15 @@ static void addCameraGeoms(const mjModel* m, mjData* d, const mjvOption* vopt, m
mju_addToScl3(vnear[2], y, zver[1]);
mju_addToScl3(vnear[3], y, zver[1]);
// vertices of the far plane
zhor[0] *= zfar / znear;
zhor[1] *= zfar / znear;
zver[0] *= zfar / znear;
zver[1] *= zfar / znear;
// vertices of the far plane: scale for perspective, average(width, height) for orthographic
if (!orthographic) {
zhor[0] *= zfar / znear;
zhor[1] *= zfar / znear;
zver[0] *= zfar / znear;
zver[1] *= zfar / znear;
} else {
zfar = (zhor[0] + zver[0]) / 2;
}
mju_addScl3(center, cam_xpos, z, -zfar);
mju_addScl3(vfar[0], center, x, -zhor[0]);
mju_addScl3(vfar[1], center, x, zhor[1]);