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haosulab / ManiSkill

SAPIEN Manipulation Skill Framework, a GPU parallelized robotics simulator and benchmark
https://maniskill.ai/
Apache License 2.0
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Field of View (FOV) of the Camera #717

Open hesic73 opened 1 day ago

hesic73 commented 1 day ago

In the CameraConfig class, we can specify the field of view (FOV) of the camera as shown here:

https://github.com/haosulab/ManiSkill/blob/fa53941f9f356025577d3c1d63b86a21ca631d56/mani_skill/sensors/camera.py#L42

It appears that this FOV corresponds to the vertical field of view (fovy), with compute_x=True used to compute the horizontal FOV (fovx) automatically. I also noticed that Sapien provides a direct API to set the horizontal FOV (fovx). Could you please provide more detail on this?

https://github.com/haosulab/ManiSkill/blob/fa53941f9f356025577d3c1d63b86a21ca631d56/mani_skill/envs/scene.py#L297

StoneT2000 commented 1 day ago

This is ported from the old MS2 API. We should just add support for fovx and fovy directly. fov is just a convenience so you can put in one number only.