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Change mjsCamera.resolution type from float to int.

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Resolution is inherently an integer quantity (pixels).

PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
This commit is contained in:
Yuval Tassa
2025-12-23 13:13:38 -08:00
committed by Copybara-Service
parent 9d646e6548
commit f2e9097ed6
5 changed files with 17 additions and 18 deletions
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doc/includes/references.h
+2 -2
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@@ -2106,11 +2106,11 @@ typedef struct mjsCamera_ { // camera specification
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
double fovy; // y-field of view
double ipd; // inter-pupilary distance
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float resolution[2]; // resolution (pixel)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
include/mujoco/mjspec.h
+2 -2
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@@ -374,11 +374,11 @@ typedef struct mjsCamera_ { // camera specification
// intrinsics
mjtProjection proj; // camera projection type
int resolution[2]; // resolution (pixel)
double fovy; // y-field of view
double ipd; // inter-pupilary distance
double ipd; // inter-pupillary distance
float intrinsic[4]; // camera intrinsics (length)
float sensor_size[2]; // sensor size (length)
float resolution[2]; // resolution (pixel)
float focal_length[2]; // focal length (length)
float focal_pixel[2]; // focal length (pixel)
float principal_length[2]; // principal point (length)
python/mujoco/introspect/structs.py
+9 -9
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@@ -7570,6 +7570,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='mjtProjection'),
doc='camera projection type',
),
StructFieldDecl(
name='resolution',
type=ArrayType(
inner_type=ValueType(name='int'),
extents=(2,),
),
doc='resolution (pixel)',
),
StructFieldDecl(
name='fovy',
type=ValueType(name='double'),
@@ -7578,7 +7586,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl(
name='ipd',
type=ValueType(name='double'),
doc='inter-pupilary distance',
doc='inter-pupillary distance',
),
StructFieldDecl(
name='intrinsic',
@@ -7596,14 +7604,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='sensor size (length)',
),
StructFieldDecl(
name='resolution',
type=ArrayType(
inner_type=ValueType(name='float'),
extents=(2,),
),
doc='resolution (pixel)',
),
StructFieldDecl(
name='focal_length',
type=ArrayType(
src/user/user_api.cc
+1 -2
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@@ -1278,8 +1278,7 @@ int mjs_sensorDim(const mjsSensor* sensor) {
if (sensor->objtype == mjOBJ_CAMERA) {
const mjCCamera* camera = static_cast<const mjCCamera*>(
static_cast<mjCSensor*>(sensor->element)->get_obj());
return static_cast<int>(camera->spec.resolution[0]) *
static_cast<int>(camera->spec.resolution[1]);
return camera->spec.resolution[0] * camera->spec.resolution[1];
}
return 1; // site-attached: single ray
wasm/codegen/generated/bindings.cc
+3 -3
View File
@@ -3135,6 +3135,9 @@ struct MjsCamera {
void set_proj(mjtProjection value) {
ptr_->proj = value;
}
emscripten::val resolution() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
}
double fovy() const {
return ptr_->fovy;
}
@@ -3153,9 +3156,6 @@ struct MjsCamera {
emscripten::val sensor_size() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->sensor_size));
}
emscripten::val resolution() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
}
emscripten::val focal_length() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->focal_length));
}