Added main parameter to toggle initial instance segmentation. Set to …

…true by default. Ref #23

(cherry picked from commit fe0a647)

AirLib/include/common/AirSimSettings.hpp

@@ -509,6 +509,7 @@ namespace airlib
         float clock_speed = 1.0f;
         bool engine_sound = false;
         bool move_world_origin = false;
+        bool initial_instance_segmentation = true;
         bool log_messages_visible = true;
         bool show_los_debug_lines_ = false;
         HomeGeoPoint origin_geopoint{ GeoPoint(47.641468, -122.140165, 122) }; //The geo-coordinate assigned to Unreal coordinate 0,0,0
@@ -1454,6 +1455,7 @@ namespace airlib
             speed_unit_factor = settings_json.getFloat("SpeedUnitFactor", 1.0f);
             speed_unit_label = settings_json.getString("SpeedUnitLabel", "m\\s");
             move_world_origin = settings_json.getBool("MoveWorldOrigin", false);
+            initial_instance_segmentation = settings_json.getBool("InitialInstanceSegmentation", true);
             log_messages_visible = settings_json.getBool("LogMessagesVisible", true);
             show_los_debug_lines_ = settings_json.getBool("ShowLosDebugLines", false);
 

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp

@@ -235,7 +235,9 @@ bool ASimModeBase::IsAnnotationRGBValid(FString annotation_name, FColor color) {
 
 void ASimModeBase::InitializeInstanceSegmentation()
 {
-    instance_segmentation_annotator_.Initialize(this->GetLevel());
+    if (getSettings().initial_instance_segmentation) {
+        instance_segmentation_annotator_.Initialize(this->GetLevel());
+    }
     ForceUpdateInstanceSegmentation();
     updateInstanceSegmentationAnnotation();
 }

docs/image_apis.md

@@ -242,7 +242,7 @@ When you specify `ImageType = DepthVis` in `ImageRequest`, you get an image that
 You normally want to retrieve disparity image as float (i.e. set `pixels_as_float = true` and specify `ImageType = DisparityNormalized` in `ImageRequest`) in which case each pixel is `(Xl - Xr)/Xmax`, which is thereby normalized to values between 0 to 1.
 
 ### Segmentation
-When you specify `ImageType = Segmentation` in `ImageRequest`, you get an image that gives you ground truth instance segmentation of the scene. At the startup, AirSim assigns a random color index to each mesh available in environment. The RGB values for each color index ID can be retrieved from the API.
+When you specify `ImageType = Segmentation` in `ImageRequest`, you get an image that gives you ground truth instance segmentation of the scene. At the startup, AirSim assigns a random color index to each mesh available in environment. You can disable this by setting the main parameter `InitialInstanceSegmentation` to false in the settings.json file. The RGB values for each color index ID can be retrieved from the API.
 
 You can assign a specific value to a specific mesh using APIs. For example, below Python code sets the object ID for the mesh called "Ground" to 20 in Blocks environment and hence changes its color in Segmentation view to the 20th color of the instance segmentation colormap:
 Note that this will not do a check if this color is already assigned to a different object! 

docs/instance_segmentation.md

@@ -11,7 +11,7 @@ An Instance segmentation system is implemented into Cosys-AirSim. It uses Proxy
   * These and other unsupported object types that are less common that either will not be rendered (decals, text, foliage, ...) or will by default be given the RGB color value of [149,149,149] or [0,0,0]. (brush objects, landscape,...).
 
 ## Usage
-By default, at the start of the simulation, it will give a random color to each object. 
+By default, at the start of the simulation, it will give a random color to each object. You can disable this by setting the main parameter `InitialInstanceSegmentation` to false in the settings.json file.
 Please see the [Image API documentation](image_apis.md#segmentation) on how to manually set or get the color information.
 
 For an example of the Instance Segmentation API, please see the script _segmentation_test.py_ (Cosys-Airsim/PythonClient/segmentation/segmentation_test.py).

docs/settings.md

@@ -55,6 +55,7 @@ Note this does not include most sensor types.
   "ApiServerPort": 41451,
   "RecordUIVisible": true,
   "MoveWorldOrigin": false,
+  "InitialInstanceSegmentation": true,
   "LogMessagesVisible": true,
   "ShowLosDebugLines": false,
   "ViewMode": "",

docs/settings_example.json

@@ -6,6 +6,7 @@
     "ApiServerPort": 41451,
     "RecordUIVisible": true,
     "MoveWorldOrigin": false,
+    "InitialInstanceSegmentation": true,
     "LogMessagesVisible": true,
     "ShowLosDebugLines": false,
     "ViewMode": "",