Class Camera

dm_control/mujoco/engine.py:642–1000

Mujoco scene camera. Holds rendering properties such as the width and height of the viewport. The camera position and rotation is defined by the Mujoco camera corresponding to the `camera_id`. Multiple `Camera` instances may exist for a single `camera_id`, for example to render the same vie

class Camera:
  """Mujoco scene camera.

  Holds rendering properties such as the width and height of the viewport. The
  camera position and rotation is defined by the Mujoco camera corresponding to
  the `camera_id`. Multiple `Camera` instances may exist for a single
  `camera_id`, for example to render the same view at different resolutions.
  """

  def __init__(
      self,
      physics: Physics,
      height: int = 240,
      width: int = 320,
      camera_id: Union[int, str] = -1,
      max_geom: Optional[int] = None,
      scene_callback: Optional[Callable[[Physics, mujoco.MjvScene],
                                        None]] = None,
  ):
    """Initializes a new `Camera`.

    Args:
      physics: Instance of `Physics`.
      height: Optional image height. Defaults to 240.
      width: Optional image width. Defaults to 320.
      camera_id: Optional camera name or index. Defaults to -1, the free
        camera, which is always defined. A nonnegative integer or string
        corresponds to a fixed camera, which must be defined in the model XML.
        If `camera_id` is a string then the camera must also be named.
      max_geom: Optional integer specifying the maximum number of geoms that can
        be rendered in the same scene. If None this will be chosen automatically
        based on the estimated maximum number of renderable geoms in the model.
      scene_callback: Called after the scene has been created and before
        it is rendered. Can be used to add more geoms to the scene.
    Raises:
      ValueError: If `camera_id` is outside the valid range, or if `width` or
        `height` exceed the dimensions of MuJoCo's offscreen framebuffer.
    """
    buffer_width = physics.model.vis.global_.offwidth
    buffer_height = physics.model.vis.global_.offheight
    if width > buffer_width:
      raise ValueError('Image width {} > framebuffer width {}. Either reduce '
                       'the image width or specify a larger offscreen '
                       'framebuffer in the model XML using the clause\n'
                       '<visual>\n'
                       '  <global offwidth="my_width"/>\n'
                       '</visual>'.format(width, buffer_width))
    if height > buffer_height:
      raise ValueError('Image height {} > framebuffer height {}. Either reduce '
                       'the image height or specify a larger offscreen '
                       'framebuffer in the model XML using the clause\n'
                       '<visual>\n'
                       '  <global offheight="my_height"/>\n'
                       '</visual>'.format(height, buffer_height))
    if isinstance(camera_id, str):
      camera_id = physics.model.name2id(camera_id, 'camera')
    if camera_id < -1:
      raise ValueError('camera_id cannot be smaller than -1.')