add orthographic camera

include/sapien/sapien_renderer/camera_component.h

@@ -3,17 +3,19 @@
 #include "image.h"
 #include "sapien/math/mat.h"
 #include "sapien/math/pose.h"
+#include <map>
 #include <svulkan2/renderer/renderer_base.h>
 #include <svulkan2/scene/camera.h>
 #include <variant>
-#include <map>
 
 namespace sapien {
 class Entity;
 namespace sapien_renderer {
 struct SapienRenderCameraInternal;
 class SapienRenderTexture;
 
+enum class CameraMode { ePerspective, eOrthographic };
+
 class SapienRenderCameraComponent : public Component {
 public:
   SapienRenderCameraComponent(uint32_t width, uint32_t height, std::string const &shaderDir);
@@ -38,6 +40,11 @@ class SapienRenderCameraComponent : public Component {
   inline float getPrincipalPointY() const { return mCy; }
   inline float getSkew() const { return mSkew; }
 
+  inline float getOrthoLeft() const { return mLeft; }
+  inline float getOrthoRight() const { return mRight; }
+  inline float getOrthoBottom() const { return mBottom; }
+  inline float getOrthoTop() const { return mTop; }
+
   Mat4 getModelMatrix() const;
   Mat4 getProjectionMatrix() const;
   Mat3 getIntrinsicMatrix() const;
@@ -54,6 +61,12 @@ class SapienRenderCameraComponent : public Component {
   void setPrincipalPoint(float cx, float cy);
   void setSkew(float s);
 
+  void setOrthographicParameters(float near, float far, float top);
+  void setOrthographicParameters(float near, float far, float left, float right, float bottom,
+                                 float top);
+
+  inline CameraMode getMode() const { return mMode; }
+
   void takePicture();
   std::vector<std::string> getImageNames() const;
   SapienRenderImageCpu getImage(std::string const &name);
@@ -85,6 +98,9 @@ class SapienRenderCameraComponent : public Component {
   SapienRenderCameraComponent &operator=(SapienRenderCameraComponent const &&) = delete;
 
 private:
+  CameraMode mMode{CameraMode::ePerspective};
+  void checkMode(CameraMode mode) const;
+
   uint32_t mWidth{};
   uint32_t mHeight{};
   float mFx{};
@@ -94,6 +110,13 @@ class SapienRenderCameraComponent : public Component {
   float mNear{};
   float mFar{};
   float mSkew{};
+
+  // ortho only
+  float mLeft{};
+  float mRight{};
+  float mBottom{};
+  float mTop{};
+
   std::string mShaderDir;
 
   std::map<std::string, std::variant<int, float>> mProperties;
@@ -112,4 +135,3 @@ class SapienRenderCameraComponent : public Component {
 
 } // namespace sapien_renderer
 } // namespace sapien
-

include/sapien/sapien_renderer/window.h

@@ -1,4 +1,5 @@
 #pragma once
+#include "camera_component.h"
 #include "image.h"
 #include "material.h"
 #include "sapien/math/mat.h"
@@ -60,6 +61,8 @@ class SapienRendererWindow {
   void setCameraParameters(float near, float far, float fovy);
   void setCameraIntrinsicParameters(float near, float far, float fx, float fy, float cx, float cy,
                                     float skew);
+  void setCameraOrthoParameters(float near, float far, float top);
+  CameraMode getCameraMode();
 
   void setCameraPose(Pose const &pose);
   Pose getCameraPose();
@@ -85,6 +88,7 @@ class SapienRendererWindow {
   float getCameraNear();
   float getCameraFar();
   float getCameraFovy();
+  float getCameraOrthoTop();
 
   glm::mat4 getCameraProjectionMatrix();
   Mat4 getCameraModelMatrix();

python/py_package/__init__.pyi

@@ -34,5 +34,5 @@ from . import utils
 from . import version
 from . import wrapper
 __all__ = ['ActorBuilder', 'ArticulationBuilder', 'Component', 'CudaArray', 'Device', 'Engine', 'Entity', 'Path', 'PinocchioModel', 'Pose', 'SapienRenderer', 'Scene', 'SceneConfig', 'System', 'Widget', 'asset', 'internal_renderer', 'math', 'os', 'physx', 'pkg_resources', 'platform', 'profile', 'pysapien', 'pysapien_pinocchio', 'render', 'set_log_level', 'simsense', 'utils', 'version', 'warn', 'wrapper']
-__version__: str = '3.0.0.dev20240516+9b8c9cc0'
+__version__: str = '3.0.0.dev20240520+3037022b'
 __warningregistry__: dict = {'version': 0}

python/py_package/pysapien/render.pyi

@@ -69,6 +69,8 @@ class RenderCameraComponent(sapien.pysapien.Component):
         """
     def get_local_pose(self) -> sapien.pysapien.Pose:
         ...
+    def get_mode(self) -> typing.Literal['perspective', 'orthographic']:
+        ...
     def get_model_matrix(self) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float32]]:
         """
         Get model matrix (inverse of extrinsic matrix) used in rendering (Y up, Z back)
@@ -118,6 +120,12 @@ class RenderCameraComponent(sapien.pysapien.Component):
         ...
     def set_near(self, near: float) -> None:
         ...
+    @typing.overload
+    def set_orthographic_parameters(self, near: float, far: float, top: float) -> None:
+        ...
+    @typing.overload
+    def set_orthographic_parameters(self, near: float, far: float, left: float, right: float, bottom: float, top: float) -> None:
+        ...
     def set_perspective_parameters(self, near: float, far: float, fx: float, fy: float, cx: float, cy: float, skew: float) -> None:
         ...
     def set_principal_point(self, cx: float, cy: float) -> None:
@@ -169,6 +177,21 @@ class RenderCameraComponent(sapien.pysapien.Component):
     def height(self) -> int:
         ...
     @property
+    def mode(self) -> typing.Literal['perspective', 'orthographic']:
+        ...
+    @property
+    def ortho_bottom(self) -> float:
+        ...
+    @property
+    def ortho_left(self) -> float:
+        ...
+    @property
+    def ortho_right(self) -> float:
+        ...
+    @property
+    def ortho_top(self) -> float:
+        ...
+    @property
     def width(self) -> int:
         ...
 class RenderCameraGroup:
@@ -844,6 +867,8 @@ class RenderWindow:
         ...
     def resize(self, width: int, height: int) -> None:
         ...
+    def set_camera_orthographic_parameters(self, near: float, far: float, top: float) -> None:
+        ...
     def set_camera_parameters(self, near: float, far: float, fovy: float) -> None:
         ...
     def set_camera_pose(self, pose: sapien.pysapien.Pose) -> None:
@@ -896,6 +921,9 @@ class RenderWindow:
     def alt(self) -> bool:
         ...
     @property
+    def camera_mode(self) -> typing.Literal['perspective', 'orthographic']:
+        ...
+    @property
     def ctrl(self) -> bool:
         ...
     @property
@@ -925,6 +953,9 @@ class RenderWindow:
     def near(self) -> float:
         ...
     @property
+    def ortho_top(self) -> float:
+        ...
+    @property
     def shift(self) -> bool:
         ...
     @property

python/py_package/utils/viewer/control_window.py

@@ -201,6 +201,10 @@ def single_step(self, _):
         self._single_step = True
 
     def copy_camera_settings(self, _=None):
+        if self.orthographic:
+            print('copying from orthographic camera is not supported yet')
+            return
+
         p = self.window.get_camera_position()
         q = self.window.get_camera_rotation()
         width, height = self.window.size
@@ -276,7 +280,19 @@ def build(self):
                 .append(
                     self.ui_camera,
                     self.ui_camera_image,
-                    R.UISliderAngle().Label("FOV Y").Min(1).Max(179).Bind(self, "fovy"),
+                    R.UICheckbox().Label("Orthographic").Bind(self, "orthographic"),
+                    R.UIConditional()
+                    .Bind(self, "orthographic")
+                    .append(
+                        R.UISliderFloat()
+                        .Label("Ortho Scale")
+                        .Min(0.1)
+                        .Max(10)
+                        .Bind(self, "ortho_scale"),
+                    ),
+                    R.UIConditional().Bind(self, "_perspective").append(
+                        R.UISliderAngle().Label("FOV Y").Min(1).Max(179).Bind(self, "fovy"),
+                    ),
                     R.UIButton()
                     .Label("Copy Camera Settings")
                     .Callback(self.copy_camera_settings),
@@ -772,6 +788,35 @@ def _clear_camera_linesets(self):
             render_scene.remove_node(n)
         self.camera_linesets = []
 
+    @property
+    def orthographic(self):
+        return self.window.camera_mode == "orthographic"
+
+    @property
+    def _perspective(self):
+        return not self.orthographic
+
+    @orthographic.setter
+    def orthographic(self, v):
+        if v:
+            self.window.set_camera_orthographic_parameters(
+                self.window.near, self.window.far, 1
+            )
+        else:
+            self.window.set_camera_parameters(
+                self.window.near, self.window.far, np.pi / 3
+            )
+
+    @property
+    def ortho_scale(self):
+        return self.window.ortho_top
+
+    @ortho_scale.setter
+    def ortho_scale(self, v):
+        self.window.set_camera_orthographic_parameters(
+            self.window.near, self.window.far, v
+        )
+
     @property
     def fovy(self):
         return self.window.fovy

python/pybind/sapien_renderer.cpp

@@ -15,6 +15,35 @@ using namespace sapien;
 using namespace sapien::sapien_renderer;
 
 namespace pybind11::detail {
+
+template <> struct type_caster<CameraMode> {
+  PYBIND11_TYPE_CASTER(CameraMode, _("typing.Literal['perspective', 'orthographic']"));
+
+  bool load(py::handle src, bool convert) {
+    std::string name = py::cast<std::string>(src);
+    if (name == "perspective" || name == "pers") {
+      value = CameraMode::ePerspective;
+      return true;
+    } else if (name == "orthographic" || name == "ortho") {
+      value = CameraMode::eOrthographic;
+      return true;
+    }
+    return false;
+  }
+
+  static py::handle cast(CameraMode const &src, py::return_value_policy policy,
+                         py::handle parent) {
+    switch (src) {
+    case CameraMode::ePerspective:
+      return py::str("perspective").release();
+    case CameraMode::eOrthographic:
+      return py::str("orthographic").release();
+    default:
+      return py::str("none").release();
+    }
+  }
+};
+
 template <> struct type_caster<svulkan2::renderer::RTRenderer::DenoiserType> {
   PYBIND11_TYPE_CASTER(svulkan2::renderer::RTRenderer::DenoiserType,
                        _("typing.Literal['none', 'oidn', 'optix']"));
@@ -933,10 +962,26 @@ This function waits for any pending CUDA operations on cuda stream provided by :
       .def("get_skew", &SapienRenderCameraComponent::getSkew)
       .def("set_skew", &SapienRenderCameraComponent::setSkew, py::arg("skew"))
 
+      .def_property_readonly("mode", &SapienRenderCameraComponent::getMode)
+      .def("get_mode", &SapienRenderCameraComponent::getMode)
       .def("set_perspective_parameters", &SapienRenderCameraComponent::setPerspectiveParameters,
            py::arg("near"), py::arg("far"), py::arg("fx"), py::arg("fy"), py::arg("cx"),
            py::arg("cy"), py::arg("skew"))
 
+      .def("set_orthographic_parameters",
+           py::overload_cast<float, float, float>(
+               &SapienRenderCameraComponent::setOrthographicParameters),
+           py::arg("near"), py::arg("far"), py::arg("top"))
+      .def("set_orthographic_parameters",
+           py::overload_cast<float, float, float, float, float, float>(
+               &SapienRenderCameraComponent::setOrthographicParameters),
+           py::arg("near"), py::arg("far"), py::arg("left"), py::arg("right"), py::arg("bottom"),
+           py::arg("top"))
+      .def_property_readonly("ortho_left", &SapienRenderCameraComponent::getOrthoLeft)
+      .def_property_readonly("ortho_right", &SapienRenderCameraComponent::getOrthoRight)
+      .def_property_readonly("ortho_bottom", &SapienRenderCameraComponent::getOrthoBottom)
+      .def_property_readonly("ortho_top", &SapienRenderCameraComponent::getOrthoTop)
+
       .def("get_intrinsic_matrix", &SapienRenderCameraComponent::getIntrinsicMatrix,
            "Get 3x3 intrinsic camera matrix in OpenCV format.")
       .def("get_extrinsic_matrix", &SapienRenderCameraComponent::getExtrinsicMatrix,
@@ -1118,6 +1163,12 @@ consumer library. Make a copy if needed.
       .def("set_intrinsic_parameters", &SapienRendererWindow::setCameraIntrinsicParameters,
            py::arg("near"), py::arg("far"), py::arg("fx"), py::arg("fy"), py::arg("cx"),
            py::arg("cy"), py::arg("skew"))
+
+      .def("set_camera_orthographic_parameters", &SapienRendererWindow::setCameraOrthoParameters,
+           py::arg("near"), py::arg("far"), py::arg("top"))
+      .def_property_readonly("camera_mode", &SapienRendererWindow::getCameraMode)
+      .def_property_readonly("ortho_top", &SapienRendererWindow::getCameraOrthoTop)
+
       .def("set_camera_pose", &SapienRendererWindow::setCameraPose, py::arg("pose"))
       .def("set_camera_position", &SapienRendererWindow::setCameraPosition, py::arg("position"))
       .def("set_camera_rotation", &SapienRendererWindow::setCameraRotation, py::arg("quat"))