From f2e9097ed631379681eae5d827b0d68d1fd06dfd Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 23 Dec 2025 13:13:38 -0800
Subject: [PATCH] Change `mjsCamera.resolution` type from float to int.

Resolution is inherently an integer quantity (pixels).

PiperOrigin-RevId: 848276456
Change-Id: I92ee1aa88fd552fd42cb3871442f020f26d6fa6a
---
 doc/includes/references.h           |  4 ++--
 include/mujoco/mjspec.h             |  4 ++--
 python/mujoco/introspect/structs.py | 18 +++++++++---------
 src/user/user_api.cc                |  3 +--
 wasm/codegen/generated/bindings.cc  |  6 +++---
 5 files changed, 17 insertions(+), 18 deletions(-)

diff --git a/doc/includes/references.h b/doc/includes/references.h
index 3369e9b0..28902f55 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -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)
diff --git a/include/mujoco/mjspec.h b/include/mujoco/mjspec.h
index 299f95e9..70a0c403 100644
--- a/include/mujoco/mjspec.h
+++ b/include/mujoco/mjspec.h
@@ -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)
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index 61786b45..d45c7582 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -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(
diff --git a/src/user/user_api.cc b/src/user/user_api.cc
index 5baa520b..4d5a529a 100644
--- a/src/user/user_api.cc
+++ b/src/user/user_api.cc
@@ -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
 
diff --git a/wasm/codegen/generated/bindings.cc b/wasm/codegen/generated/bindings.cc
index da048b38..43fdbdd3 100644
--- a/wasm/codegen/generated/bindings.cc
+++ b/wasm/codegen/generated/bindings.cc
@@ -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));
   }