Merge pull request #2534 from saihv/PR/control_fov

simSetCameraFov() API to control FoV dynamically

AirLib/include/api/RpcLibClientBase.hpp

@@ -98,6 +98,7 @@ class RpcLibClientBase {
 
     CameraInfo simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "") const;
     void simSetCameraOrientation(const std::string& camera_name, const Quaternionr& orientation, const std::string& vehicle_name = "");
+    void simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name = "");
 
     msr::airlib::Kinematics::State simGetGroundTruthKinematics(const std::string& vehicle_name = "") const;
     msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;

AirLib/include/api/VehicleSimApiBase.hpp

@@ -55,6 +55,7 @@ class VehicleSimApiBase : public msr::airlib::UpdatableObject {
 
     virtual CameraInfo getCameraInfo(const std::string& camera_name) const = 0;
     virtual void setCameraOrientation(const std::string& camera_name, const Quaternionr& orientation) = 0;
+    virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) = 0;
 
     virtual CollisionInfo getCollisionInfo() const = 0;
     virtual int getRemoteControlID() const = 0; //which RC to use, 0 is first one, -1 means disable RC (use keyborad)

AirLib/src/api/RpcLibClientBase.cpp

@@ -363,6 +363,10 @@ void RpcLibClientBase::simSetCameraOrientation(const std::string& camera_name, c
 {
     pimpl_->client.call("simSetCameraOrientation", camera_name, RpcLibAdapatorsBase::Quaternionr(orientation), vehicle_name);
 }
+void RpcLibClientBase::simSetCameraFov(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name)
+{
+    pimpl_->client.call("simSetCameraFov", camera_name, fov_degrees, vehicle_name);
+}
 
 msr::airlib::Kinematics::State RpcLibClientBase::simGetGroundTruthKinematics(const std::string& vehicle_name) const
 {

AirLib/src/api/RpcLibServerBase.cpp

@@ -122,7 +122,6 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
     pimpl_->server.bind("armDisarm", [&](bool arm, const std::string& vehicle_name) -> bool { 
         return getVehicleApi(vehicle_name)->armDisarm(arm);
     });
-
     pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdapatorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name) -> 
         vector<RpcLibAdapatorsBase::ImageResponse> {
             const auto& response = getVehicleSimApi(vehicle_name)->getImages(RpcLibAdapatorsBase::ImageRequest::to(request_adapter));
@@ -230,6 +229,11 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         getVehicleSimApi(vehicle_name)->setCameraOrientation(camera_name, orientation.to());
     });
 
+    pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees,
+        const std::string& vehicle_name) -> void {
+        getVehicleSimApi(vehicle_name)->setCameraFoV(camera_name, fov_degrees);
+    });
+
     pimpl_->server.bind("simGetCollisionInfo", [&](const std::string& vehicle_name) -> RpcLibAdapatorsBase::CollisionInfo {
         const auto& collision_info = getVehicleSimApi(vehicle_name)->getCollisionInfo(); 
         return RpcLibAdapatorsBase::CollisionInfo(collision_info);

PythonClient/airsim/client.py

@@ -153,8 +153,28 @@ def simGetCameraInfo(self, camera_name, vehicle_name = ''):
         return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name))
 
     def simSetCameraOrientation(self, camera_name, orientation, vehicle_name = ''):
+        """
+        - Control the orientation of a selected camera
+
+        Args:
+            camera_name (str): Name of the camera to be controlled
+            orientation (airsim.Quaternion()): Quaternion representing the desired orientation of the camera
+            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
+        """
         # TODO: below str() conversion is only needed for legacy reason and should be removed in future
         self.client.call('simSetCameraOrientation', str(camera_name), orientation, vehicle_name)
+
+    def simSetCameraFov(self, camera_name, fov_degrees, vehicle_name = ''):
+        """
+        - Control the field of view of a selected camera
+
+        Args:
+            camera_name (str): Name of the camera to be controlled
+            fov_degrees (float): Value of field of view in degrees
+            vehicle_name (str, optional): Name of vehicle which the camera corresponds to
+        """
+        # TODO: below str() conversion is only needed for legacy reason and should be removed in future
+        return self.client.call('simSetCameraFov', str(camera_name), fov_degrees, vehicle_name)
 
     def simGetGroundTruthKinematics(self, vehicle_name = ''):
         kinematics_state = self.client.call('simGetGroundTruthKinematics', vehicle_name)

Unreal/Plugins/AirSim/Source/PIPCamera.cpp

@@ -254,6 +254,15 @@ void APIPCamera::setCameraOrientation(const FRotator& rotator)
     this->SetActorRelativeRotation(rotator);
 }
 
+void APIPCamera::setCameraFoV(float fov_degrees)
+{
+    int image_count = static_cast<int>(Utils::toNumeric(ImageType::Count));
+    for (int image_type = 0; image_type < image_count; ++image_type) {
+        captures_[image_type]->FOVAngle = fov_degrees;
+    }
+}
+
+
 void APIPCamera::setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform)
 {
     //TODO: should we be ignoring position and orientation settings here?

Unreal/Plugins/AirSim/Source/PIPCamera.h

@@ -42,6 +42,7 @@ class AIRSIM_API APIPCamera : public ACameraActor
     bool getCameraTypeEnabled(ImageType type) const;
     void setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform);
     void setCameraOrientation(const FRotator& rotator);
+    void setCameraFoV(float fov_degrees);
 
     msr::airlib::ProjectionMatrix getProjectionMatrix(const APIPCamera::ImageType image_type) const;
 

Unreal/Plugins/AirSim/Source/PawnSimApi.cpp

@@ -412,6 +412,14 @@ void PawnSimApi::setCameraOrientation(const std::string& camera_name, const msr:
     }, true);
 }
 
+void PawnSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees)
+{
+    UAirBlueprintLib::RunCommandOnGameThread([this, camera_name, fov_degrees]() {
+        APIPCamera* camera = getCamera(camera_name);
+        camera->setCameraFoV(fov_degrees);
+    }, true);
+}
+
 //parameters in NED frame
 PawnSimApi::Pose PawnSimApi::getPose() const
 {

Unreal/Plugins/AirSim/Source/PawnSimApi.h

@@ -78,6 +78,7 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase {
     virtual void setPose(const Pose& pose, bool ignore_collision) override;
     virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name) const override;
     virtual void setCameraOrientation(const std::string& camera_name, const Quaternionr& orientation) override;
+    virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) override;
     virtual CollisionInfo getCollisionInfo() const override;
     virtual int getRemoteControlID() const override;
     virtual msr::airlib::RCData getRCData() const override;

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -72,7 +72,6 @@ std::vector<std::string> WorldSimApi::listSceneObjects(const std::string& name_r
     return result;
 }
 
-
 WorldSimApi::Pose WorldSimApi::getObjectPose(const std::string& object_name) const
 {
     Pose result;