fix(sim camera): remove framerate for direct camera render flag

Author: juelg

src/sim/camera.cpp

@@ -32,10 +32,12 @@ SimCameraSet::SimCameraSet(
       cameras{},
       render_on_demand{render_on_demand} {
   for (auto const& [id, cam] : cameras_cfg) {
+    if (!this->render_on_demand) {
     this->sim->register_rendering_callback(
         [this](const std::string& id, mjrContext& ctx, mjvScene& scene,
                mjvOption& opt) { this->frame_callback(id, ctx, scene, opt); },
         id, cam.frame_rate, cam.resolution_width, cam.resolution_height);
+    }
 
     mjvCamera mjcam;
     mjv_defaultCamera(&mjcam);
@@ -86,13 +88,18 @@ std::optional<FrameSet> SimCameraSet::get_timestamp_frameset(float ts) {
 void SimCameraSet::render_all() {
   for (auto const& [id, cam] : this->cameras_cfg) {
     mjrContext* ctx = this->sim->renderer.get_context(id);
-    this->frame_callback(id, *ctx, this->sim->renderer.scene,
+    this->render_single(id, *ctx, this->sim->renderer.scene,
                          this->sim->renderer.opt);
   }
 }
 
 void SimCameraSet::frame_callback(const std::string& id, mjrContext& ctx,
                                   mjvScene& scene, mjvOption& opt) {
+  this->render_single(id, ctx, scene, opt);
+}
+
+void SimCameraSet::render_single(const std::string& id, mjrContext& ctx,
+                                  mjvScene& scene, mjvOption& opt) {
   mjrRect viewport = mjr_maxViewport(&ctx);
   int W = viewport.width;
   int H = viewport.height;

src/sim/camera.h

@@ -70,6 +70,8 @@ class SimCameraSet {
   std::mutex buffer_lock;
   mjtNum last_ts = 0;
   void render_all();
+  void render_single(const std::string& id, mjrContext& ctx, mjvScene& scene,
+                     mjvOption& opt);
 };
 }  // namespace sim
 }  // namespace rcs