Added post-processing to stretch-robot initialization

allenai · Jul 16, 2024 · 76e0203 · 76e0203
1 parent c87dcc0
commit 76e0203
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Showing 2 changed files with 59 additions and 3 deletions.
diff --git a/...s/SimObjsPhysics/RoboTHOR Objects/RoboTHOR_Assets_Environment/RoboTHOR_Post_Profile.asset b/...s/SimObjsPhysics/RoboTHOR Objects/RoboTHOR_Assets_Environment/RoboTHOR_Post_Profile.asset
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diff --git a/unity/Assets/Scripts/StretchAgentController.cs b/unity/Assets/Scripts/StretchAgentController.cs
@@ -29,6 +29,7 @@ public partial class StretchAgentController : ArmAgentController {
         );
         private Vector3 defaultSecondaryCameraLocalRotation = new Vector3(50f, 90f, 0);
         private float defaultSecondaryCameraFieldOfView = 59f;
+        private bool distortLens = true;
 
         public StretchAgentController(
             BaseAgentComponent baseAgentComponent,
@@ -57,8 +58,6 @@ public override ActionFinished InitializeBody(ServerAction initializeAction) {
             cc.center = m_CharacterController.center;
             cc.radius = m_CharacterController.radius;
             cc.height = m_CharacterController.height;
-            m_Camera.GetComponent<PostProcessVolume>().enabled = true;
-            m_Camera.GetComponent<PostProcessLayer>().enabled = true;
 
             // set camera stand/crouch local positions for Tall mode
             standingLocalCameraPosition = m_Camera.transform.localPosition;
@@ -92,6 +91,12 @@ public override ActionFinished InitializeBody(ServerAction initializeAction) {
             fp_camera_2.transform.localEulerAngles = defaultSecondaryCameraLocalRotation;
             fp_camera_2.fieldOfView = defaultSecondaryCameraFieldOfView;
 
+            // set up lens distortion for stretch bot cameras
+            if (distortLens == true) {
+                enableLensDistortion(m_Camera);
+                enableLensDistortion(fp_camera_2);
+            }
+
             // limit camera from looking too far down/up
             if (Mathf.Approximately(initializeAction.maxUpwardLookAngle, 0.0f)) {
                 this.maxUpwardLookAngle = 25f;
@@ -133,6 +138,22 @@ out secondaryCameraParams
             return ActionFinished.Success;
         }
 
+        public void enableLensDistortion(Camera camera) {
+            // "enableLensDistortion" - Set this up as an external function that takes a camera, then run it for both!!!
+            // don't forget to emulate this logic for LocoBot, but only if you think it's worth standardizing, and not one-offing like here...
+            PostProcessVolume cameraPPVolume = camera.GetComponent<PostProcessVolume>();
+            cameraPPVolume.enabled = true;
+
+            PostProcessLayer cameraPPLayer = camera.GetComponent<PostProcessLayer>();
+            cameraPPLayer.enabled = true;
+
+            PostProcessProfile cameraPPProfile = cameraPPVolume.profile;
+
+            if (cameraPPProfile.TryGetSettings(out LensDistortion lensDistortion)) {
+                lensDistortion.active = true; // Toggle Lens Distortion on based on some condition
+            }
+        }
+
         private ArmController getArmImplementation() {
             Stretch_Robot_Arm_Controller arm =
                 GetComponentInChildren<Stretch_Robot_Arm_Controller>();