DRAFT: Camera intrinsics variation#913
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- Perturb a pinhole camera's focal lengths (fx, fy) and principal point (cx, cy) by sampled fractional amounts via the USD aperture/offset params. - Register on the droid and franka wrist cameras alongside the extrinsics variation. Signed-off-by: alex <amillane@nvidia.com>
…of tiled cameras.
…ature/camera_intrinsics_variation # Conflicts: # isaaclab_arena/embodiments/droid/droid.py # isaaclab_arena/embodiments/embodiment_base.py # isaaclab_arena/embodiments/franka/franka.py # isaaclab_arena/embodiments/g1/g1.py # isaaclab_arena/embodiments/gr1t2/gr1t2.py # isaaclab_arena/utils/cameras.py # isaaclab_arena_environments/gr1_put_and_close_door_environment.py # isaaclab_arena_environments/gr1_table_multi_object_no_collision_environment.py
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| """DROID three-camera rig using standard (untiled) cameras, mounted with pre-set poses. | ||
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| This is the source of truth for the DROID camera poses and intrinsics. Inherits | ||
| :class:`~isaaclab_arena.utils.cameras.ArenaCameraCfg`, whose ``get_cfg`` returns the untiled | ||
| rig or a tiled copy per ``use_tiled_camera``. | ||
| """ |
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| # EventTerm( | ||
| # func=franka_stack_events.randomize_joint_by_gaussian_offset, | ||
| # mode="reset", | ||
| # params={ | ||
| # "mean": 0.0, | ||
| # "std": 0.02, | ||
| # "asset_cfg": SceneEntityCfg("robot"), | ||
| # }, | ||
| # ) |
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| """Franka wrist-camera rig using a standard (untiled) camera. | ||
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| Source of truth for the wrist-camera intrinsics and default pose. Tiling is selected via | ||
| the inherited :class:`~isaaclab_arena.utils.cameras.ArenaCameraCfg`; the offset is set from | ||
| the embodiment's ``camera_offset``. | ||
| """ |
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| """G1 head-camera rig using a standard (untiled) camera. | ||
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| Source of truth for the head-camera intrinsics and default pose. Tiling is selected via the | ||
| inherited :class:`~isaaclab_arena.utils.cameras.ArenaCameraCfg`; the offset is set from the | ||
| embodiment's ``camera_offset``. | ||
| """ |
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| """GR1T2 head POV camera rig using a standard (untiled) camera. | ||
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| Source of truth for the POV-camera intrinsics and default pose. Tiling is selected via the | ||
| inherited :class:`~isaaclab_arena.utils.cameras.ArenaCameraCfg`; the offset is set from the | ||
| embodiment's ``camera_offset``. | ||
| """ |
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| """Mixin for embodiment camera-rig configclasses that exposes an untiled/tiled selector. | ||
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| CameraCfg configclasses subclass this and declare camera fields (as per usual). The get_cfg | ||
| then returns the rig un-tiled, or a tiled copy dependent on the value of ``use_tiled_camera``. | ||
| A rig configclass subclasses this and declares its cameras as ``CameraCfg`` fields (the | ||
| untiled source of truth). :meth:`get_cfg` then returns the rig untiled, or a tiled copy of | ||
| it, per :attr:`use_tiled_camera`. Embodiments assign such a rig to ``camera_config``; the | ||
| env builder resolves it via :meth:`get_cfg`. |
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| # Backing flag; tiled by default. Kept as a ClassVar so it is not treated as a camera field; instances shadow it. | ||
| _use_tiled_camera: ClassVar[bool] = True | ||
| """Backing flag; tiled by default. Kept as a ClassVar so it is not treated as a camera field; instances shadow it.""" |
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| """Return a copy of this rig with every untiled CameraCfg field converted to tiled. | ||
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| This instance is left untouched; non-camera fields and already-tiled cameras are copied as-is. | ||
| """ |
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| """Return a TiledCameraCfg mirroring the settings of an untiled CameraCfg. | ||
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| All init fields are copied except ``class_type``, so the returned cfg keeps the tiled | ||
| camera's own ``class_type``. | ||
| """ |
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Summary
Adds a run-time variation for camera intrinsics.
Detailed description