Upgrade setCameraOrientation to setCameraPose #2710
Conversation
| airsim_client_.simSetCameraOrientation(gimbal_cmd_.camera_name, gimbal_cmd_.target_quat, gimbal_cmd_.vehicle_name); | ||
| // Only camera rotation, no translation movement of camera | ||
| airsim_client_.simSetCameraPose(gimbal_cmd_.camera_name, get_airlib_pose(0, 0, 0, gimbal_cmd_.target_quat), | ||
| gimbal_cmd_.vehicle_name); |
There was a problem hiding this comment.
This change needs a review, in regards to whether new fields should be added to the Gimbal message, current implementation, etc.
There was a problem hiding this comment.
I think it's okay, as Gimbal usually implies an orientation only.
For completeness, I think it calls for a new setCameraPose service in a new computer vision mode, but I'd consider that outside the scope of this PR.
|
Might be better to merge this after #2712 just to make sure |
|
/azp run microsoft.AirSim |
|
Azure Pipelines successfully started running 1 pipeline(s). |
|
Please add same functional for python client. |
|
@mihailk239 The Python API change is there in the PR, see |
|
@rajat2004 @madratman @saihv for setCameraPose to work, does settings.json need to be in ComputerVision model only? Or does this also work in Multirotor mode? |
Replaces #2624
From the original PR -
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: