Field of View (FOV) of the Camera

[hesic73]

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

ManiSkill/mani_skill/sensors/camera.py

Line 42 in fa53941

fov: float = None

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?

ManiSkill/mani_skill/envs/scene.py

Line 297 in fa53941

fovy: Union[float, List, None] = None,

[StoneT2000]

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.