SceneCamera and Viewer: make camera properties factor and zoom configurable.

DeepMind · saran-t · commit ff8a9caac9d8 · 2021-10-15T18:17:17.000+01:00
PiperOrigin-RevId: 403369158
Change-Id: Ief0fccec8ab1dcab49a7e71ffc60bc684c57186b
diff --git a/dm_control/viewer/renderer.py b/dm_control/viewer/renderer.py
@@ -372,7 +372,12 @@ def select_prev_labeling_mode(self):
 class SceneCamera:
   """A camera used to navigate around and render the scene."""
 
-  def __init__(self, model, data, options, settings=None):
+  def __init__(self,
+               model,
+               data,
+               options,
+               settings=None,
+               zoom_factor=_FULL_SCENE_ZOOM_FACTOR):
     """Instance initializer.
 
     Args:
@@ -381,6 +386,7 @@ def __init__(self, model, data, options, settings=None):
       options: RenderSettings instance.
       settings: Optional, internal camera settings obtained from another
         SceneCamera instance using 'settings' property.
+      zoom_factor: The initial zoom factor for zooming into the scene.
     """
     # Design notes:
     # We need to recreate the camera for each new model, because each model
@@ -395,9 +401,13 @@ def __init__(self, model, data, options, settings=None):
     self._camera.trackbodyid = _NO_BODY_TRACKED_INDEX
     self._camera.fixedcamid = _FREE_CAMERA_INDEX
     self._camera.type_ = enums.mjtCamera.mjCAMERA_FREE
+    self._zoom_factor = zoom_factor
 
     if settings is not None:
+      self._settings = settings
       self.settings = settings
+    else:
+      self._settings = self._camera
 
   def set_freelook_mode(self):
     """Enables 6 degrees of freedom of movement for the camera."""
@@ -493,7 +503,9 @@ def render(self, perturbation=None):
   def zoom_to_scene(self):
     """Zooms in on the entire scene."""
     self.look_at(self._model.stat.center[:],
-                 _FULL_SCENE_ZOOM_FACTOR * self._model.stat.extent)
+                 self._zoom_factor * self._model.stat.extent)
+
+    self.settings = self._settings
 
   @property
   def transform(self):
diff --git a/dm_control/viewer/viewer.py b/dm_control/viewer/viewer.py
@@ -84,17 +84,23 @@
 # Distance, in meters, at which to focus on the clicked object.
 _LOOK_AT_DISTANCE = 1.5
 
+# Zoom factor used when zooming in on the entire scene.
+_FULL_SCENE_ZOOM_FACTOR = 1.5
+
 
 class Viewer:
   """Viewport displaying the contents of a physics world."""
 
-  def __init__(self, viewport, mouse, keyboard):
+  def __init__(self, viewport, mouse, keyboard, camera_settings=None,
+               zoom_factor=_FULL_SCENE_ZOOM_FACTOR):
     """Instance initializer.
 
     Args:
       viewport: Render viewport, instance of renderer.Viewport.
       mouse: A mouse device.
       keyboard: A keyboard device.
+      camera_settings: Properties of the scene MjvCamera.
+      zoom_factor: Initial scale factor for zooming into the scene.
     """
     self._viewport = viewport
     self._mouse = mouse
@@ -104,11 +110,12 @@ def __init__(self, viewport, mouse, keyboard):
     self._input_map = user_input.InputMap(mouse, keyboard)
 
     self._camera = None
-    self._camera_settings = None
+    self._camera_settings = camera_settings
     self._renderer = None
     self._manipulator = None
     self._free_camera = None
     self._camera_select = None
+    self._zoom_factor = zoom_factor
 
   def __del__(self):
     del self._camera
@@ -127,7 +134,7 @@ def initialize(self, physics, renderer_instance, touchpad):
     """
     self._camera = renderer.SceneCamera(
         physics.model, physics.data, self._render_settings,
-        self._camera_settings)
+        settings=self._camera_settings, zoom_factor=self._zoom_factor)
 
     self._manipulator = ManipulationController(
         self._viewport, self._camera, self._mouse)
diff --git a/setup.py b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='0.0.401196677',
+    version='0.0.403369158',
     description='Continuous control environments and MuJoCo Python bindings.',
     author='DeepMind',
     license='Apache License, Version 2.0',
