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feat(camera): xtrinsics and callibration support #198

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Merged
juelg merged 13 commits into from
Jul 18, 2025
Merged

feat(camera): xtrinsics and callibration support #198

juelg merged 13 commits into from
Jul 18, 2025

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@juelg juelg commented Jul 7, 2025 •
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  • fix(sim): when direct_camera_render is set in sim then render callbacks are ignored which leads to much less rendering effort
  • feat(env): support for nested annotated gym space types
  • feat: added extrinsics and intrinsics to camera frame inteface with support in mujoco and for the realsense cameras
  • feat: added camera calibration into interface

@juelg juelg force-pushed the juelg/no-frames-when-direct-camera-render branch from 8518280 to 92b6aba Compare July 7, 2025 11:01
juelg added 4 commits July 8, 2025 16:45
@juelg
feat(sim): intrinsic and extrinsic as additional camera data
5a8b587 
- added extrinsic and intrinsic matrices to camera interface
- added extrinsic and intrinsic to mujoco camera set
@juelg
refactor: move xtrinsics into calibration
aad0ad5
@juelg
refactor(camera): calibration interface change
3b21945 
- changed the interface for hardware calibration
- added realsense specific calibration code
@juelg
feat(env): allow nested space types
2c03fb0
@juelg juelg force-pushed the juelg/no-frames-when-direct-camera-render branch from 8c9f9ab to 2c03fb0 Compare July 9, 2025 12:41
@juelg juelg changed the title fix(sim camera): remove framerate for direct camera render flag feat(camera): xtrinsics and callibration support Jul 10, 2025
@juelg
feat: full calibration support
a47d80e 
- calibration interface
- calibration data added to observation
- intrinsic calibration for sim and realsense
- implemented april tag calibration
@juelg juelg force-pushed the juelg/no-frames-when-direct-camera-render branch from 85eaa0b to a47d80e Compare July 10, 2025 09:52
@juelg juelg force-pushed the juelg/no-frames-when-direct-camera-render branch from 74f1b17 to 8cdae3f Compare July 18, 2025 11:44
@juelg juelg merged commit 39e43ca into master Jul 18, 2025
4 checks passed
@juelg juelg deleted the juelg/no-frames-when-direct-camera-render branch July 18, 2025 11:58
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@juelg