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microsoft · Jun 9, 2021 · 763ea44 · 763ea44
1 parent 9ef975c
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Showing 14 changed files with 65 additions and 58 deletions.
diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -87,20 +87,20 @@ namespace airlib
         virtual std::string getSettingsString() const = 0;
 
         // Image APIs
-        virtual CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external=false) const = 0;
+        virtual CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) const = 0;
         virtual void setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
                                    const std::string& vehicle_name = "", bool external = false) = 0;
         virtual void setCameraFoV(const std::string& camera_name, float fov_degrees,
                                   const std::string& vehicle_name = "", bool external = false) = 0;
         virtual void setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
                                         const std::string& vehicle_name = "", bool external = false) = 0;
         virtual std::vector<float> getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "",
-                                                        bool external = false) const = 0;
+                                                       bool external = false) const = 0;
 
         virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests,
-            const std::string& vehicle_name = "", bool external = false) const = 0;
+                                                                       const std::string& vehicle_name = "", bool external = false) const = 0;
         virtual std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
-            const std::string& vehicle_name = "", bool external = false) const = 0;
+                                              const std::string& vehicle_name = "", bool external = false) const = 0;
     };
 }
 } //namespace

diff --git a/AirLib/include/common/AirSimSettings.hpp b/AirLib/include/common/AirSimSettings.hpp
@@ -53,9 +53,13 @@ namespace airlib
             bool external;
 
             SubwindowSetting(int window_index_val = 0, ImageType image_type_val = ImageType::Scene, bool visible_val = false,
-                const std::string& camera_name_val = "", const std::string& vehicle_name_val = "", bool external_val = false)
-                : window_index(window_index_val), image_type(image_type_val), visible(visible_val),
-                  camera_name(camera_name_val), vehicle_name(vehicle_name_val), external(external_val)
+                             const std::string& camera_name_val = "", const std::string& vehicle_name_val = "", bool external_val = false)
+                : window_index(window_index_val)
+                , image_type(image_type_val)
+                , visible(visible_val)
+                , camera_name(camera_name_val)
+                , vehicle_name(vehicle_name_val)
+                , external(external_val)
             {
             }
         };
@@ -1346,7 +1350,6 @@ namespace airlib
                 }
             }
         }
-
     };
 }
 } //namespace

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -144,10 +144,9 @@ namespace airlib
             return getWorldSimApi()->runConsoleCommand(command);
         });
 
-        pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdaptorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name, bool external) ->
-            vector<RpcLibAdaptorsBase::ImageResponse> {
-                const auto& response = getWorldSimApi()->getImages(RpcLibAdaptorsBase::ImageRequest::to(request_adapter), vehicle_name, external);
-                return RpcLibAdaptorsBase::ImageResponse::from(response);
+        pimpl_->server.bind("simGetImages", [&](const std::vector<RpcLibAdaptorsBase::ImageRequest>& request_adapter, const std::string& vehicle_name, bool external) -> vector<RpcLibAdaptorsBase::ImageResponse> {
+            const auto& response = getWorldSimApi()->getImages(RpcLibAdaptorsBase::ImageRequest::to(request_adapter), vehicle_name, external);
+            return RpcLibAdaptorsBase::ImageResponse::from(response);
         });
 
         pimpl_->server.bind("simGetImage", [&](const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name, bool external) -> vector<uint8_t> {
@@ -258,23 +257,19 @@ namespace airlib
             return RpcLibAdaptorsBase::CameraInfo(camera_info);
         });
 
-        pimpl_->server.bind("simSetDistortionParam", [&](const std::string& camera_name, const std::string& param_name, float value,
-            const std::string& vehicle_name, bool external) -> void {
+        pimpl_->server.bind("simSetDistortionParam", [&](const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name, bool external) -> void {
             getWorldSimApi()->setDistortionParam(camera_name, param_name, value, vehicle_name, external);
         });
 
-        pimpl_->server.bind("simGetDistortionParams", [&](const std::string& camera_name, const std::string& vehicle_name,
-            bool external) -> std::vector<float> {
+        pimpl_->server.bind("simGetDistortionParams", [&](const std::string& camera_name, const std::string& vehicle_name, bool external) -> std::vector<float> {
             return getWorldSimApi()->getDistortionParams(camera_name, vehicle_name, external);
         });
 
-        pimpl_->server.bind("simSetCameraPose", [&](const std::string& camera_name, const RpcLibAdaptorsBase::Pose& pose,
-            const std::string& vehicle_name, bool external) -> void {
+        pimpl_->server.bind("simSetCameraPose", [&](const std::string& camera_name, const RpcLibAdaptorsBase::Pose& pose, const std::string& vehicle_name, bool external) -> void {
             getWorldSimApi()->setCameraPose(camera_name, pose.to(), vehicle_name, external);
         });
 
-        pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees,
-            const std::string& vehicle_name, bool external) -> void {
+        pimpl_->server.bind("simSetCameraFov", [&](const std::string& camera_name, float fov_degrees, const std::string& vehicle_name, bool external) -> void {
             getWorldSimApi()->setCameraFoV(camera_name, fov_degrees, vehicle_name, external);
         });
 

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/PawnSimApi.cpp
@@ -124,7 +124,6 @@ const NedTransform& PawnSimApi::getNedTransform() const
     return ned_transform_;
 }
 
-
 msr::airlib::RCData PawnSimApi::getRCData() const
 {
     AirSimRCData rcDataFromUnity = GetRCData(getVehicleName().c_str());
@@ -220,7 +219,6 @@ void PawnSimApi::allowPassthroughToggleInput()
     PrintLogMessage("enable_passthrough_on_collisions: ", state_.passthrough_enabled ? "true" : "false", params_.vehicle_name.c_str(), ErrorLogSeverity::Information);
 }
 
-
 //parameters in NED frame
 PawnSimApi::Pose PawnSimApi::getPose() const
 {

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.cpp
@@ -256,7 +256,7 @@ msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_nam
 }
 
 void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
-                               const std::string& vehicle_name, bool external)
+                                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());
@@ -274,7 +274,7 @@ void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees
 }
 
 void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
-                                    const std::string& vehicle_name, bool external)
+                                     const std::string& vehicle_name, bool external)
 {
     throw std::invalid_argument(common_utils::Utils::stringf("setDistortionParam is not supported on unity").c_str());
 }
@@ -297,7 +297,7 @@ std::vector<WorldSimApi::ImageCaptureBase::ImageResponse> WorldSimApi::getImages
 }
 
 std::vector<uint8_t> WorldSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
-    const std::string& vehicle_name, bool external) const
+                                           const std::string& vehicle_name, bool external) const
 {
     std::vector<ImageCaptureBase::ImageRequest> request{ ImageCaptureBase::ImageRequest(camera_name, image_type) };
     const auto& response = getImages(request);

diff --git a/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h b/Unity/AirLibWrapper/AirsimWrapper/Source/WorldSimApi.h
@@ -79,12 +79,12 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     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;
+                                                   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;
+                                                                   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;
+                                          const std::string& vehicle_name = "", bool external = false) const override;
 
 private:
     SimModeBase* simmode_;

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -307,7 +307,7 @@ std::vector<float> APIPCamera::getDistortionParams() const
 {
     std::vector<float> param_values(5, 0.0);
 
-    auto getParamValue = [this](const auto &name, float &val) {
+    auto getParamValue = [this](const auto& name, float& val) {
         distortion_param_instance_->GetScalarParameterValue(FName(name), val);
     };
 

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.h b/Unreal/Plugins/AirSim/Source/PIPCamera.h
@@ -55,10 +55,12 @@ class AIRSIM_API APIPCamera : public ACameraActor
     UDetectionComponent* getDetectionComponent(const ImageType type, bool if_active) const;
 
     msr::airlib::Pose getPose() const;
-    
+
 private: //members
-    UPROPERTY() UMaterialParameterCollection* distortion_param_collection_;
-    UPROPERTY() UMaterialParameterCollectionInstance* distortion_param_instance_;
+    UPROPERTY()
+    UMaterialParameterCollection* distortion_param_collection_;
+    UPROPERTY()
+    UMaterialParameterCollectionInstance* distortion_param_instance_;
 
     UPROPERTY()
     TArray<USceneCaptureComponent2D*> captures_;

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -53,12 +53,17 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase
         }
 
         Params(APawn* pawn_val, const NedTransform* global_transform_val, PawnEvents* pawn_events_val,
-            const common_utils::UniqueValueMap<std::string, APIPCamera*>& cameras_val, UClass* pip_camera_class_val,
-            UParticleSystem* collision_display_template_val, const msr::airlib::GeoPoint& home_geopoint_val,
-            const std::string& vehicle_name_val)
-        : pawn(pawn_val), global_transform(global_transform_val), pawn_events(pawn_events_val), cameras(cameras_val),
-          pip_camera_class(pip_camera_class_val), collision_display_template(collision_display_template_val),
-          home_geopoint(home_geopoint_val), vehicle_name(vehicle_name_val)
+               const common_utils::UniqueValueMap<std::string, APIPCamera*>& cameras_val, UClass* pip_camera_class_val,
+               UParticleSystem* collision_display_template_val, const msr::airlib::GeoPoint& home_geopoint_val,
+               const std::string& vehicle_name_val)
+            : pawn(pawn_val)
+            , global_transform(global_transform_val)
+            , pawn_events(pawn_events_val)
+            , cameras(cameras_val)
+            , pip_camera_class(pip_camera_class_val)
+            , collision_display_template(collision_display_template_val)
+            , home_geopoint(home_geopoint_val)
+            , vehicle_name(vehicle_name_val)
         {
         }
     };

diff --git a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp
@@ -338,7 +338,8 @@ void ASimHUD::initializeSubWindows()
             subwindow_cameras_[setting.window_index] = camera;
         else
             UAirBlueprintLib::LogMessageString("Invalid Camera settings in <SubWindows> element",
-                std::to_string(setting.window_index), LogDebugLevel::Failure);
+                                               std::to_string(setting.window_index),
+                                               LogDebugLevel::Failure);
     }
 }
 

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -472,7 +472,8 @@ void ASimModeBase::initializeExternalCameras()
         //get pose
         FVector position = transform.fromLocalNed(setting.position) - transform.fromLocalNed(Vector3r::Zero());
         FTransform camera_transform(FRotator(setting.rotation.pitch, setting.rotation.yaw, setting.rotation.roll),
-            position, FVector(1., 1., 1.));
+                                    position,
+                                    FVector(1., 1., 1.));
 
         //spawn and attach camera to pawn
         camera_spawn_params.Name = FName(("external_" + camera_setting_pair.first).c_str());
@@ -512,14 +513,12 @@ bool ASimModeBase::isRecording() const
 
 const APIPCamera* ASimModeBase::getCamera(const std::string& camera_name, const std::string& vehicle_name, bool external) const
 {
-    return external ? getExternalCamera(camera_name) :
-                      getVehicleSimApi(vehicle_name)->getCamera(camera_name);
+    return external ? getExternalCamera(camera_name) : getVehicleSimApi(vehicle_name)->getCamera(camera_name);
 }
 
 const UnrealImageCapture* ASimModeBase::getImageCapture(const std::string& vehicle_name, bool external) const
 {
-    return external ? external_image_capture_.get() :
-                      getVehicleSimApi(vehicle_name)->getImageCapture();
+    return external ? external_image_capture_.get() : getVehicleSimApi(vehicle_name)->getImageCapture();
 }
 
 //API server start/stop

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
@@ -103,7 +103,7 @@ class AIRSIM_API ASimModeBase : public AActor
         return const_cast<APIPCamera*>(
             static_cast<const ASimModeBase*>(this)->getExternalCamera(camera_name));
     }
-    
+
     APIPCamera* getCamera(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false)
     {
         return const_cast<APIPCamera*>(

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -628,25 +628,26 @@ std::string WorldSimApi::getSettingsString() const
     return msr::airlib::AirSimSettings::singleton().settings_text_;
 }
 
-
 msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const
 {
     msr::airlib::CameraInfo info;
     const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
     UAirBlueprintLib::RunCommandOnGameThread([camera, &info]() {
         info = camera->getCameraInfo();
-    }, true);
+    },
+                                             true);
 
     return info;
 }
 
 void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
-                               const std::string& vehicle_name, bool external)
+                                const std::string& vehicle_name, bool external)
 {
     auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
     UAirBlueprintLib::RunCommandOnGameThread([camera, &pose]() {
         camera->setCameraPose(pose);
-    }, true);
+    },
+                                             true);
 }
 
 void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees,
@@ -655,16 +656,18 @@ void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees
     auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
     UAirBlueprintLib::RunCommandOnGameThread([camera, &fov_degrees]() {
         camera->setCameraFoV(fov_degrees);
-    }, true);
+    },
+                                             true);
 }
 
 void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
-                                    const std::string& vehicle_name, bool external)
+                                     const std::string& vehicle_name, bool external)
 {
     auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
     UAirBlueprintLib::RunCommandOnGameThread([camera, &param_name, &value]() {
         camera->setDistortionParam(param_name, value);
-    }, true);
+    },
+                                             true);
 }
 
 std::vector<float> WorldSimApi::getDistortionParams(const std::string& camera_name, const std::string& vehicle_name, bool external) const
@@ -673,7 +676,8 @@ std::vector<float> WorldSimApi::getDistortionParams(const std::string& camera_na
     const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
     UAirBlueprintLib::RunCommandOnGameThread([camera, &param_values]() {
         param_values = camera->getDistortionParams();
-    }, true);
+    },
+                                             true);
 
     return param_values;
 }
@@ -690,7 +694,7 @@ std::vector<WorldSimApi::ImageCaptureBase::ImageResponse> WorldSimApi::getImages
 }
 
 std::vector<uint8_t> WorldSimApi::getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
-    const std::string& vehicle_name, bool external) const
+                                           const std::string& vehicle_name, bool external) const
 {
     std::vector<ImageCaptureBase::ImageRequest> request{ ImageCaptureBase::ImageRequest(camera_name, image_type) };
     const auto& response = getImages(request);

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -84,12 +84,12 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     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;
+                                                   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;
+                                                                   const std::string& vehicle_name = "", bool external = false) const override;
     virtual std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
-        const std::string& vehicle_name = "", bool external = false) const override;
+                                          const std::string& vehicle_name = "", bool external = false) const override;
 
 private:
     AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
@@ -99,4 +99,4 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     ASimModeBase* simmode_;
     ULevelStreamingDynamic* current_level_;
     std::vector<bool> voxel_grid_;
-};
+};