Add camera FOV to INI settings file

Resources/Example.CarlaSettings.ini

@@ -34,6 +34,8 @@ PostProcessing=SceneFinal
 ; Size of the captured image in pixels.
 ImageSizeX=720
 ImageSizeY=512
+; Camera field of view in degrees.
+CameraFOV=90
 ; Position of the camera relative to the car in centimeters.
 CameraPositionX=170
 CameraPositionY=0

Source/Carla/Game/CameraDescription.h

@@ -11,11 +11,11 @@ struct FCameraDescription
   GENERATED_BODY()
 
   /** X size in pixels of the captured image. */
-  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
   uint32 ImageSizeX = 720u;
 
   /** Y size in pixels of the captured image. */
-  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(ClampMin = "1"))
   uint32 ImageSizeY = 512u;
 
   /** Position relative to the player. */
@@ -29,4 +29,8 @@ struct FCameraDescription
   /** Post-process effect to be applied to the captured image. */
   UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
   EPostProcessEffect PostProcessEffect = EPostProcessEffect::SceneFinal;
+
+  /** Camera field of view (in degrees). */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly, meta=(DisplayName = "Field of View", ClampMin = "0.001", ClampMax = "360.0"))
+  float FOVAngle = 90.0f;
 };

Source/Carla/Game/CarlaSettings.cpp

@@ -95,6 +95,7 @@ static void GetCameraDescription(
 {
   ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
   ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
+  ConfigFile.GetInt(Section, TEXT("CameraFOV"), Camera.FOVAngle);
   ConfigFile.GetInt(Section, TEXT("CameraPositionX"), Camera.Position.X);
   ConfigFile.GetInt(Section, TEXT("CameraPositionY"), Camera.Position.Y);
   ConfigFile.GetInt(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
@@ -104,6 +105,13 @@ static void GetCameraDescription(
   ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
 }
 
+static void ValidateCameraDescription(FCameraDescription &Camera)
+{
+  FMath::Clamp(Camera.FOVAngle, 0.001f, 360.0f);
+  Camera.ImageSizeX = (Camera.ImageSizeX == 0u ? 720u : Camera.ImageSizeX);
+  Camera.ImageSizeY = (Camera.ImageSizeY == 0u ? 512u : Camera.ImageSizeY);
+}
+
 static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settings)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading settings from \"%s\""), *FileName);
@@ -131,6 +139,8 @@ static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settin
       Section += SubSection;
       GetCameraDescription(ConfigFile, *Section, Camera);
     }
+
+    ValidateCameraDescription(Camera);
   }
 }
 

Source/Carla/SceneCaptureCamera.cpp

@@ -116,10 +116,17 @@ void ASceneCaptureCamera::SetPostProcessEffect(EPostProcessEffect otherPostProce
   PostProcessEffect = otherPostProcessEffect;
 }
 
+void ASceneCaptureCamera::SetFOVAngle(float FOVAngle)
+{
+  check(CaptureComponent2D != nullptr);
+  CaptureComponent2D->FOVAngle = FOVAngle;
+}
+
 void ASceneCaptureCamera::Set(const FCameraDescription &CameraDescription)
 {
   SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
   SetPostProcessEffect(CameraDescription.PostProcessEffect);
+  SetFOVAngle(CameraDescription.FOVAngle);
 }
 
 bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const

Source/Carla/SceneCaptureCamera.h

@@ -50,6 +50,8 @@ public:
 
   void SetPostProcessEffect(EPostProcessEffect PostProcessEffect);
 
+  void SetFOVAngle(float FOVAngle);
+
   void Set(const FCameraDescription &CameraDescription);
 
   bool ReadPixels(TArray<FColor> &BitMap) const;