Pythonclient: Add example script for changing FoV of camera

PythonClient/computer_vision/fov_change.py

@@ -0,0 +1,58 @@
+# In settings.json first activate computer vision mode:
+# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
+
+import setup_path
+import airsim
+
+import pprint
+import os
+import tempfile
+
+pp = pprint.PrettyPrinter(indent=4)
+
+client = airsim.VehicleClient()
+client.confirmConnection()
+
+airsim.wait_key('Press any key to get camera parameters')
+
+def printCameraInfo(camera_name):
+    camera_info = client.simGetCameraInfo("front_center")
+    print(f"CameraInfo: {camera_name}")
+    pp.pprint(camera_info)
+
+printCameraInfo("front_center")
+
+tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_cv_mode")
+print ("Saving images to %s" % tmp_dir)
+try:
+    os.makedirs(tmp_dir)
+except OSError:
+    if not os.path.isdir(tmp_dir):
+        raise
+
+airsim.wait_key('Press any key to get images')
+
+requests = [airsim.ImageRequest("0", airsim.ImageType.Scene),
+           airsim.ImageRequest("0", airsim.ImageType.DepthVis)]
+
+def save_images(responses, prefix = ""):
+    for i, response in enumerate(responses):
+        filename = os.path.join(tmp_dir, prefix + "_" + str(i))
+        if response.pixels_as_float:
+            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
+            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
+        else:
+            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
+            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
+
+
+responses = client.simGetImages(requests)
+save_images(responses, "old_fov")
+
+airsim.wait_key('Press any key to change FoV and get images')
+
+client.simSetCameraFov("front_center", 120)
+responses = client.simGetImages(requests)
+save_images(responses, "new_fov")
+
+printCameraInfo("front_center")