Update Camera FoV as well when using simSetCameraFoV API

[Rajat Singhal (rajat2004)]

Fixes #2977

About

• Fixes camera FoV not being updated when using the API
• Adds example script for usage of API

Currently, only Render texture FoVs are being updated. This results in an incorrect FoV in the Camera info. Note that this is a behavioural change, previously when changing the FoV, the main viewport did not change, only the rendered images were affected. This change will cause the viewport to also change if the camera is the main one, such as the front center camera

How Has This Been Tested?

Using the script added in this PR, and the output -

Output

$ python fov_change.py
Connected!
Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)

Saving images to /tmp/airsim_cv_mode
Camera: front_center
Press any key to get camera parameters
<CameraInfo> {   'fov': 90.0,
    'pose': <Pose> {   'orientation': <Quaternionr> {   'w_val': 1.0,
    'x_val': -0.0,
    'y_val': 0.0,
    'z_val': 0.0},
    'position': <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}},
    'proj_mat': <ProjectionMatrix> {   'matrix': [   [   0.0,
                      1.0,
                      0.0,
                      0.0],
                  [   0.0,
                      0.0,
                      -1.7777777910232544,
                      0.0],
                  [   0.0,
                      0.0,
                      0.0,
                      10.0],
                  [   -1.0,
                      0.0,
                      0.0,
                      0.0]]}}
Press any key to get images, saving to /tmp/airsim_cv_mode
Type 0, size 41957, pos <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}
Type 3, size 1488, pos <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}
Press any key to change FoV and get images
Type 0, size 41314, pos <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}
Type 3, size 1656, pos <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}
<CameraInfo> {   'fov': 120.0,
    'pose': <Pose> {   'orientation': <Quaternionr> {   'w_val': 1.0,
    'x_val': -0.0,
    'y_val': 0.0,
    'z_val': 0.0},
    'position': <Vector3r> {   'x_val': 0.0,
    'y_val': 0.0,
    'z_val': -0.0}},
    'proj_mat': <ProjectionMatrix> {   'matrix': [   [   0.0,
                      0.5773502588272095,
                      0.0,
                      0.0],
                  [   0.0,
                      0.0,
                      -1.0264004468917847,
                      0.0],
                  [   0.0,
                      0.0,
                      0.0,
                      10.0],
                  [   -1.0,
                      0.0,
                      0.0,
                      0.0]]}}
Old FOV: 90.0, New FOV: 120.0

Earlier, the second CameraInfo FoV would be 90.0

Screenshots (if appropriate):

Old FoV viewport -

After FoV update -

Recorded images -
airsim_cv_mode.zip

[Mike White (MikeJamesWhite)]

This works for us.

[Jonathan (jonyMarino)]

Shouldn't be #3573 be added now to the fixes list?

[Rajat Singhal (rajat2004)]

Jonathan (@jonyMarino) I had added it earlier but later on removed it since #3573 deals with the FOV set in settings.json rather than the API. It's a bit of a separate issue that isn't affected by this PR

[David Zimmermann (zimmy87)]

Thanks for making this fix Rajat Singhal (@rajat2004)! Tested on my side and it appears to work just fine

[Kishan Panaganti Badrinath (kishanpb)]

Is this only fixed for SimMode="ComputerVision"?
I am still getting fov 90 from simGetCameraInfo for SimMode="Multirotor" when I have fov 150 in the settings.

[Rajat Singhal (rajat2004)]

This PR only affects the API call simSetCameraFoV, there's a separate issue #3573 for FoV in settings