Camera FOV becomes unrealistic above 120 degrees

[M-J-Murray]

Hello

I am attempting to simulate a camera on the default drone with airsim that is as close as possible to a camera I want to use in real-life. However, I'm finding that the FOV functionality in airsim isn't suitable for fisheye lenses. I want to use a 185 degrees FOV on my camera, however, when I configure the simulation to use these settings the results are bizarre, and highly unrealistic. Everything becomes warped and the camera perspective is completely wrong.
I have captured screen shots of what the ue4 shows vs what the simulated camera shows (this is for a custom 3d environment). The simulated camera is face down on the drone.


You can probably guess which one is which.

I used the following settings.json for the simulation:

{
	"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",
	"SettingsVersion": 1.2,
	"SimMode": "Multirotor",
	"Vehicles": {
		"PX4": {
			"VehicleType": "PX4Multirotor",
			"Cameras": {
				"bottom_center": {
					"CaptureSettings": [
						{
							"ImageType": 0,
							"Width": 1280,
							"Height": 960,
							"FOV_Degrees": 185
						}
					],
					"X": 0, "Y": 0, "Z": 0.1,
					"Roll": 0, "Pitch": -90, "Yaw": 0 
				}
			},
			"Sensors": {
				"Barometer": {
					"SensorType": 1,
					"Enabled": true
				},
				"Imu": {
					"SensorType": 2,
					"Enabled": true
				},
				"Gps": {
					"SensorType": 3,
					"Enabled": true
				},
				"Magnetometer": {
					"SensorType": 4,
					"Enabled": true
				},
				"Distance": {
					"SensorType": 5,
					"Enabled": true
				}
			}
		}
	}
}

Is there any way the FOV calculations could be re-written so that they are more realistic?
Let me know if you require any more information.

[alwynmathew]

Can we model a 180 degree fisheye camera in AirSim? @saihv

[petergerten]

@M-J-Murray I am trying to get a 220 deg fisheye camera to work and get similar results. Could you eventually solve this?

[stale]

This issue has been automatically marked as stale because it has not had activity from the community in the last year. It will be closed if no further activity occurs within 20 days.