Upgrade setCameraOrientation to setCameraPose

[saihv]

setCameraPose now takes a pose argument instead of just orientation. Commanded pose is expected to contain position in NED, relative to default camera location.

Status:

• Base implementation of setCameraPose for Unreal
• Testing in Unreal
• Unity implementation
• Testing in Unity
• Documentation
• Replacements in examples/ros wrapper

[rajat2004]

Also need to change the function in Unity

[saihv]

@rajat2004 I added the corresponding Unity implementation: it would be great if you can give it a shot in Unity.

[rajat2004]

Yeah, will try to test it out today. It's a bit difficult to test Unity right now since it's currently broken in master and needs #2328 to get it running

[saihv]

@rajat2004 Hey, could you please give this a shot when you get a chance?

[rajat2004]

Should be Pose here

[rajat2004]

Vector3r

[rajat2004]

@saihv Sorry for the delay. I had completed the Unity setup in the weekend but forgot to test it out

I've opened saihv#2 which is a rebased version of this PR along with extra commits to add a missing SetPose implementation in Unity and update the examples and docs along with addressing the comments above

The PR can't be merged right now, but probably after rebase should be mergeable. Or would you prefer that I open the PR directly against the master branch of this repo?

Also, is there any example script which uses this right now? I tested that there wasn't any crash or something which happened on calling this but nothing more till now. There are also problems with the Unity API right now, so can't be completely sure. Will update about any further testing

Update: Yeah, so I tested a bit more using simGetCameraInfo to get the camera pose (Removed proj matrix from the output)
I haven't yet tested any of the scripts, the only testing done is below-

>>> camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(1.04, 0, 0))
>>> cl.simSetCameraPose(0, camera_pose)
>>> cl.simGetCameraInfo(0)
<CameraInfo> {   'fov': 90.0,
    'pose': <Pose> {   'orientation': <Quaternionr> {   'w_val': 0.8678191900253296,
    'x_val': 5.456392671021604e-09,
    'y_val': 0.4968801736831665,
    'z_val': 3.0586306820623577e-09},
    'position': <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -3.1441450119018555e-06}},
   
>>> camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.2617999, 0, 0))
>>> cl.simSetCameraPose(0, camera_pose)
>>> cl.simGetCameraInfo(0)
<CameraInfo> {   'fov': 90.0,
    'pose': <Pose> {   'orientation': <Quaternionr> {   'w_val': 0.9914448857307434,
    'x_val': -5.291505900117954e-09,
    'y_val': 0.13052646815776825,
    'z_val': -6.78028300171718e-10},
    'position': <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': 2.5480985641479492e-06}},
    
>>> camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.5204, 0, 0))
>>> cl.simSetCameraPose(0, camera_pose)
>>> cl.simGetCameraInfo(0)
<CameraInfo> {   'fov': 90.0,
    'pose': <Pose> {   'orientation': <Quaternionr> {   'w_val': 0.966338574886322,
    'x_val': -5.717758710943599e-09,
    'y_val': 0.2572738528251648,
    'z_val': -1.462922227801755e-09},
    'position': <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': 2.7418136596679688e-06}},

Pose is getting modified, so that should be okay I think

[rajat2004]

@saihv I've opened #2710 since there were a lot of conflicts with your branch as well, it has your commits as well

[saihv]

Thanks @rajat2004 - haven't been able to get around to this again recently. Let's continue discussion in the updated PR

[saihv]

Closing in favor of #2710