correction_train_flow.py 文件源码

def mujoco_to_imagespace(mujoco_coord, numpix=64):
    """
    convert form Mujoco-Coord to numpix x numpix image space:
    :param numpix: number of pixels of square image
    :param mujoco_coord:
    :return: pixel_coord
    """
    viewer_distance = .75  # distance from camera to the viewing plane
    window_height = 2 * np.tan(75 / 2 / 180. * np.pi) * viewer_distance  # window height in Mujoco coords
    pixelheight = window_height / numpix  # height of one pixel
    pixelwidth = pixelheight
    window_width = pixelwidth * numpix
    middle_pixel = numpix / 2
    pixel_coord = np.rint(np.array([-mujoco_coord[1], mujoco_coord[0]]) /
                          pixelwidth + np.array([middle_pixel, middle_pixel]))
    pixel_coord = pixel_coord.astype(int)
    return pixel_coord