fixes camera class to support other fisheye projections

source/extensions/omni.isaac.orbit/config/extension.toml

 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.2.0"
+version = "0.2.1"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

 Changelog
 ---------
 
+0.2.1 (2023-01-26)
+~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Fixed the :class:`Camera` class to support different fisheye projection types.
+
+
 0.2.0 (2023-01-25)
 ~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -69,6 +69,15 @@ class Camera(SensorBase):
     - ``"bounding_box_3d"``: The 3D view space bounding box data.
     - ``"occlusion"``: The occlusion information (such as instance id, semantic id and occluded ratio).
 
+    The camera sensor supports the following projection types:
+
+    - ``"pinhole"``: Standard pinhole camera model (disables fisheye parameters).
+    - ``"fisheye_orthographic"``: Fisheye camera model using orthographic correction.
+    - ``"fisheye_equidistant"``: Fisheye camera model using equidistant correction.
+    - ``"fisheye_equisolid"``: Fisheye camera model using equisolid correction.
+    - ``"fisheye_polynomial"``: Fisheye camera model with :math:`360^\\circ` spherical projection.
+    - ``"fisheye_spherical"``: Fisheye camera model with :math:`360^\\circ` full-frame projection.
+
     Typically, the sensor comprises of two prims:
 
     1. **Camera rig**: A dummy Xform prim to which the camera is attached to.
@@ -356,12 +365,8 @@ class Camera(SensorBase):
             translation (Sequence[float], optional): The local position offset w.r.t. parent prim. Defaults to None.
             orientation (Sequence[float], optional): The local rotation offset in `(w, x, y, z)` w.r.t. parent prim. Defaults to None.
         """
-        # Check projection type of the camera.
-        if isinstance(self.cfg, FisheyeCameraCfg):
-            projection_type: str = "fisheye_polynomial"
-        else:
-            projection_type = "pinhole"
-
+        # Convert to camel case
+        projection_type = to_camel_case(self.cfg.projection_type, to="cC")
         # Create camera using replicator. This creates under it two prims:
         # 1) the rig: at the path f"{prim_path}/Camera_Xform"
         # 2) the USD camera: at the path f"{prim_path}/Camera_Xform/Camera"

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera_cfg.py

@@ -19,24 +19,6 @@ __all__ = ["PinholeCameraCfg", "FisheyeCameraCfg"]
 class PinholeCameraCfg:
     """Configuration for a pinhole camera sensor."""
 
-    sensor_tick: float = 0.0
-    """Simulation seconds between sensor buffers. Defaults to 0.0."""
-    data_types: List[str] = ["rgb"]
-    """List of sensor names/types to enable for the camera. Defaults to ["rgb"]."""
-    width: int = MISSING
-    """Width of the image in pixels."""
-    height: int = MISSING
-    """Height of the image in pixels."""
-    semantic_types: List[str] = ["class"]
-    """List of allowed semantic types the types. Defaults to ["class"].
-
-    For example, if semantic types is [“class”], only the bounding boxes for prims with semantics of
-    type “class” will be retrieved.
-
-    More information available at:
-        https://docs.omniverse.nvidia.com/app_code/prod_extensions/ext_replicator/semantic_schema_editor.html
-    """
-
     @configclass
     class UsdCameraCfg:
         """USD related configuration of the sensor.
@@ -71,6 +53,25 @@ class PinholeCameraCfg:
         vertical_aperture_offset: float = None
         """Offsets Resolution/Film gate vertically."""
 
+    sensor_tick: float = 0.0
+    """Simulation seconds between sensor buffers. Defaults to 0.0."""
+    data_types: List[str] = ["rgb"]
+    """List of sensor names/types to enable for the camera. Defaults to ["rgb"]."""
+    width: int = MISSING
+    """Width of the image in pixels."""
+    height: int = MISSING
+    """Height of the image in pixels."""
+    semantic_types: List[str] = ["class"]
+    """List of allowed semantic types the types. Defaults to ["class"].
+
+    For example, if semantic types is [“class”], only the bounding boxes for prims with semantics of
+    type “class” will be retrieved.
+
+    More information available at:
+        https://docs.omniverse.nvidia.com/app_code/prod_extensions/ext_replicator/semantic_schema_editor.html
+    """
+    projection_type: str = "pinhole"
+    """Type of projection to use for the camera. Defaults to "pinhole"."""
     usd_params: UsdCameraCfg = UsdCameraCfg()
     """Parameters for setting USD camera settings."""
 
@@ -103,5 +104,7 @@ class FisheyeCameraCfg(PinholeCameraCfg):
         fisheye_polynomial_e: float = None
         """Fifth component of fisheye polynomial."""
 
+    projection_type: str = "fisheye_polynomial"
+    """Type of projection to use for the camera. Defaults to "fisheye_polynomial"."""
     usd_params: UsdCameraCfg = UsdCameraCfg()
     """Parameters for setting USD camera settings."""