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iamlab-cmu / isaacgym-utils

Wrappers and utilities for Nvidia IsaacGym
Apache License 2.0
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Added FrustumGeometry, draw_camera function, and optical_from_gym_tra… #11

Closed tabula-rosa closed 3 years ago

tabula-rosa commented 3 years ago

…nsform static method

tabula-rosa commented 3 years ago

This PR implements the capability to draw a camera in Isaac Gym, to help with visualization and debugging. The camera is drawn as a wireframe model. There is an option to enable/disable the three different parts of the visualization: 1) housing; 2) frustum; 3) triad. There is an option to specify the aspect ratio of the frustum as well, if users pass in the appropriate arguments from the camera intrinsics matrix.

Full visualization: draw_camera

Visualization without the housing: draw_camera_frustum_only

To do this, I needed to create a static method of GymCamera that applied the correct Gym -> optical transform. As this transformation does not require any state of GymCamera, I made it static.

tabula-rosa commented 3 years ago

Example of using the code now exists in the franka_pick_block example

franka_pick_block_camera