Alessio Quaglino
384ed8097a
PiperOrigin-RevId: 653610253 Change-Id: Ibe57c19c6a7326266f51c5cda39cd564bd456c54
56 lines
2.0 KiB
Python
56 lines
2.0 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Camera handling for USD exporter."""
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import mujoco.usd.utils as utils_component
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import numpy as np
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# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
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# pytype: disable=module-attr
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from pxr import Gf
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from pxr import Usd
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from pxr import UsdGeom
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class USDCamera:
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"""Class that handles the cameras in the USD scene."""
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def __init__(self, stage: Usd.Stage, obj_name: str):
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self.stage = stage
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xform_path = f"/World/Camera_Xform_{obj_name}"
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camera_path = f"{xform_path}/Camera_{obj_name}"
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self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
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self.usd_prim = stage.GetPrimAtPath(camera_path)
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# defining ops required by update function
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self.transform_op = self.usd_xform.AddTransformOp()
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self.usd_camera.CreateFocalLengthAttr().Set(12)
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self.usd_camera.CreateFocusDistanceAttr().Set(400)
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self.usd_camera.GetHorizontalApertureAttr().Set(12)
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self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
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def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
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"""Updates the position and orientation of the camera in the scene."""
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transformation_mat = utils_component.create_transform_matrix(
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rotation_matrix=cam_mat, translation_vector=cam_pos
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).T
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self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
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