Unity: Update to new Image APIs

microsoft · Feb 12, 2021 · 6d011f4 · 6d011f4
1 parent 54ad8bb
commit 6d011f4
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Showing 4 changed files with 82 additions and 65 deletions.
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -81,25 +81,6 @@ const NedTransform& PawnSimApi::getNedTransform() const
 	return ned_transform_;
 }
 
-std::vector<PawnSimApi::ImageCaptureBase::ImageResponse> PawnSimApi::getImages(
-	const std::vector<ImageCaptureBase::ImageRequest>& requests) const
-{
-	std::vector<ImageCaptureBase::ImageResponse> responses;
-	const ImageCaptureBase* camera = getImageCapture();
-	camera->getImages(requests, responses);
-	return responses;
-}
-
-std::vector<uint8_t> PawnSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type) const
-{
-	std::vector<ImageCaptureBase::ImageRequest> request = { ImageCaptureBase::ImageRequest(camera_name, image_type) };
-	const std::vector<ImageCaptureBase::ImageResponse>& response = getImages(request);
-	if (response.size() > 0)
-		return response.at(0).image_data_uint8;
-	else
-		return std::vector<uint8_t>();
-}
-
 msr::airlib::RCData PawnSimApi::getRCData() const
 {
 	AirSimRCData rcDataFromUnity = GetRCData(getVehicleName().c_str());
@@ -195,43 +176,6 @@ void PawnSimApi::allowPassthroughToggleInput()
 	PrintLogMessage("enable_passthrough_on_collisions: ", state_.passthrough_enabled ? "true" : "false", params_.vehicle_name.c_str(), ErrorLogSeverity::Information);
 }
 
-msr::airlib::CameraInfo PawnSimApi::getCameraInfo(const std::string& camera_name) const
-{
-	AirSimCameraInfo airsim_camera_info = GetCameraInfo(camera_name.c_str(), params_.vehicle_name.c_str()); // Into Unity
-	msr::airlib::CameraInfo camera_info;
-	camera_info.pose.position.x() = airsim_camera_info.pose.position.x;
-	camera_info.pose.position.y() = airsim_camera_info.pose.position.y;
-	camera_info.pose.position.z() = airsim_camera_info.pose.position.z;
-	camera_info.pose.orientation.x() = airsim_camera_info.pose.orientation.x;
-	camera_info.pose.orientation.y() = airsim_camera_info.pose.orientation.y;
-	camera_info.pose.orientation.z() = airsim_camera_info.pose.orientation.z;
-	camera_info.pose.orientation.w() = airsim_camera_info.pose.orientation.w;
-	camera_info.fov = airsim_camera_info.fov;
-	return camera_info;
-}
-
-void PawnSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose)
-{
-	SetCameraPose(camera_name.c_str(), UnityUtilities::Convert_to_AirSimPose(pose), params_.vehicle_name.c_str());
-}
-
-void PawnSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees)
-{
-	SetCameraFoV(camera_name.c_str(), fov_degrees, params_.vehicle_name.c_str());
-}
-
-void PawnSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value)
-{
-	// not implemented
-}
-
-std::vector<float> PawnSimApi::getDistortionParams(const std::string& camera_name) const
-{
-	// not implemented
-	std::vector<float> params(5, 0.0);
-	return params;
-}
-
 
 //parameters in NED frame
 PawnSimApi::Pose PawnSimApi::getPose() const

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.h
@@ -28,7 +28,6 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
 	typedef msr::airlib::real_T real_T;
 	typedef msr::airlib::Utils Utils;
 	typedef msr::airlib::AirSimSettings::VehicleSetting VehicleSetting;
-	typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
 public:
 	struct Params {
@@ -67,15 +66,8 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
 	virtual void resetImplementation() override;
 	virtual void update() override;
 	virtual const UnityImageCapture* getImageCapture() const override;
-	virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& request) const override;
-	virtual std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type) const override;
 	virtual Pose getPose() const override;
 	virtual void setPose(const Pose& pose, bool ignore_collision) override;
-	virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name) const override;
-	virtual void setCameraPose(const std::string& camera_name, const Pose& pose) override;
-	virtual void setCameraFoV(const std::string& camera_name, float fov_degrees) override;
-	virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value) override;
-	virtual std::vector<float> getDistortionParams(const std::string& camera_name) const override;
 	virtual CollisionInfo getCollisionInfo() const override;
 	virtual int getRemoteControlID() const override;
 	virtual msr::airlib::RCData getRCData() const override;

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -195,4 +195,68 @@ void WorldSimApi::setWind(const Vector3r& wind) const
     simmode_->setWind(wind);
 };
 
+msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const
+{
+    if (external)
+        throw std::invalid_argument(common_utils::Utils::stringf("external field is not supported on Unity Image APIs").c_str());
+
+    AirSimCameraInfo airsim_camera_info = GetCameraInfo(camera_name.c_str(), vehicle_name.c_str()); // Into Unity
+    msr::airlib::CameraInfo camera_info;
+    camera_info.pose = UnityUtilities::Convert_to_Pose(airsim_camera_info.pose);
+    camera_info.fov = airsim_camera_info.fov;
+    return camera_info;
+}
+
+void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
+                               const std::string& vehicle_name, bool external)
+{
+    if (external)
+        throw std::invalid_argument(common_utils::Utils::stringf("external field is not supported on Unity Image APIs").c_str());
+
+    SetCameraPose(camera_name.c_str(), UnityUtilities::Convert_to_AirSimPose(pose), vehicle_name.c_str());
+}
+
+void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees,
+                               const std::string& vehicle_name, bool external)
+{
+    if (external)
+        throw std::invalid_argument(common_utils::Utils::stringf("external field is not supported on Unity Image APIs").c_str());
+
+    SetCameraFoV(camera_name.c_str(), fov_degrees, vehicle_name.c_str());
+}
+
+void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
+                                    const std::string& vehicle_name, bool external)
+{
+    throw std::invalid_argument(common_utils::Utils::stringf("setDistortionParam is not supported on unity").c_str());
+}
+
+std::vector<float> WorldSimApi::getDistortionParams(const std::string& camera_name, const std::string& vehicle_name, bool external) const
+{
+    throw std::invalid_argument(common_utils::Utils::stringf("getDistortionParams is not supported on unity").c_str());
+
+    std::vector<float> params(5, 0.0);
+    return params;
+}
+
+std::vector<WorldSimApi::ImageCaptureBase::ImageResponse> WorldSimApi::getImages(
+    const std::vector<ImageCaptureBase::ImageRequest>& requests, const std::string& vehicle_name, bool external) const
+{
+    std::vector<ImageCaptureBase::ImageResponse> responses;
+    const ImageCaptureBase* camera = simmode_->getVehicleSimApi(vehicle_name)->getImageCapture();
+    camera->getImages(requests, responses);
+    return responses;
+}
+
+std::vector<uint8_t> WorldSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
+    const std::string& vehicle_name, bool external) const
+{
+    std::vector<ImageCaptureBase::ImageRequest> request{ ImageCaptureBase::ImageRequest(camera_name, image_type) };
+    const auto& response = getImages(request);
+    if (response.size() > 0)
+        return response.at(0).image_data_uint8;
+    else
+        return std::vector<uint8_t>();
+}
+
 #pragma endregion
diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "api/WorldSimApiBase.hpp"
-#include "./SimMode/SimModeBase.h"
+#include "SimMode/SimModeBase.h"
 #include "AirSimStructs.hpp"
 
 class WorldSimApi : public msr::airlib::WorldSimApiBase
@@ -10,6 +10,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
 	typedef msr::airlib::Pose Pose;
     typedef msr::airlib::Vector3r Vector3r;
     typedef msr::airlib::MeshPositionVertexBuffersResponse MeshPositionVertexBuffersResponse;
+    typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
 	WorldSimApi(SimModeBase* simmode, std::string vehicle_name);
 	virtual ~WorldSimApi();
@@ -65,6 +66,22 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void setWind(const Vector3r& wind) const override;
     virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) override;
 
+    // Image APIs
+    virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) const override;
+    virtual void setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
+                               const std::string& vehicle_name = "", bool external = false) override;
+    virtual void setCameraFoV(const std::string& camera_name, float fov_degrees,
+                              const std::string& vehicle_name = "", bool external = false) override;
+    virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
+                                    const std::string& vehicle_name = "", bool external = false) override;
+    virtual std::vector<float> getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "",
+                                                    bool external = false) const override;
+
+    virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests, 
+        const std::string& vehicle_name = "", bool external = false) const override;
+    virtual std::vector<uint8_t> getImage(const std::string& camera_name, msr::airlib::ImageCaptureBase::ImageType image_type,
+        const std::string& vehicle_name = "", bool external = false) const override;
+
 private:
 	SimModeBase * simmode_;
 	std::string vehicle_name_;