Added RPC API function for retrieving Instance Segmentation colormap

AirLib/include/api/RpcLibAdaptorsBase.hpp

@@ -79,6 +79,24 @@ namespace airlib_rpclib
             {
                 return msr::airlib::Vector3r(x_val, y_val, z_val);
             }
+            static std::vector<Vector3r> from(
+                const std::vector<msr::airlib::Vector3r>& vectors
+            ) {
+                std::vector<Vector3r> vector_adaptor;
+                for (const auto& item : vectors)
+                    vector_adaptor.push_back(Vector3r(item));
+
+                return vector_adaptor;
+            }
+            static std::vector<msr::airlib::Vector3r> to(
+                const std::vector<Vector3r>& vector_adaptor
+            ) {
+                std::vector<msr::airlib::Vector3r> vectors;
+                for (const auto& item : vector_adaptor)
+                    vectors.push_back(item.to());
+
+                return vectors;
+            }
         };
 
         struct CollisionInfo

AirLib/include/api/RpcLibClientBase.hpp

@@ -61,6 +61,7 @@ namespace airlib
 
         vector<string> simListSceneObjects(const string& name_regex = string(".*")) const;
         vector<string> simListInstanceSegmentationObjects() const;
+        vector<Vector3r> simGetInstanceSegmentationColorMap() const;
         vector<Pose> simListInstanceSegmentationPoses(bool ned = true, bool only_visible = false) const;
         Pose simGetObjectPose(const std::string& object_name, bool ned = true) const;
         bool simLoadLevel(const string& level_name);

AirLib/include/api/WorldSimApiBase.hpp

@@ -81,6 +81,7 @@ namespace airlib
 
         virtual std::vector<std::string> listSceneObjects(const std::string& name_regex) const = 0;
         virtual std::vector<std::string> listInstanceSegmentationObjects() const = 0;
+        virtual std::vector<Vector3r> getInstanceSegmentationColorMap() const = 0;
         virtual std::vector<Pose> listInstanceSegmentationPoses(bool ned = true, bool only_visible = false) const = 0;
         virtual Pose getObjectPose(const std::string& object_name, bool ned = true) const = 0;
         virtual Vector3r getObjectScale(const std::string& object_name) const = 0;

AirLib/src/api/RpcLibClientBase.cpp

@@ -573,6 +573,12 @@ __pragma(warning(disable : 4239))
             return pimpl_->client.call("simListInstanceSegmentationObjects").as<vector<string>>();
         }
 
+        vector<msr::airlib::Vector3r> RpcLibClientBase::simGetInstanceSegmentationColorMap() const
+        {
+            const auto& response_adaptor = pimpl_->client.call("simGetInstanceSegmentationColorMap").as<vector<RpcLibAdaptorsBase::Vector3r>>();
+            return RpcLibAdaptorsBase::Vector3r::to(response_adaptor);
+        }
+
         vector<msr::airlib::Pose> RpcLibClientBase::simListInstanceSegmentationPoses(bool ned, bool only_visible) const
         {
             const auto& response_adaptor = pimpl_->client.call("simListInstanceSegmentationPoses", ned, only_visible).as<vector<RpcLibAdaptorsBase::Pose>>();

AirLib/src/api/RpcLibServerBase.cpp

@@ -444,6 +444,10 @@ namespace airlib
             return getWorldSimApi()->listInstanceSegmentationObjects();
         });
 
+        pimpl_->server.bind("simGetInstanceSegmentationColorMap", [&]() -> std::vector<RpcLibAdaptorsBase::Vector3r> {
+            return RpcLibAdaptorsBase::Vector3r::from(getWorldSimApi()->getInstanceSegmentationColorMap());
+        });
+
         pimpl_->server.bind("simListInstanceSegmentationPoses", [&](bool ned, bool only_visible) -> std::vector<RpcLibAdaptorsBase::Pose> {
             return RpcLibAdaptorsBase::Pose::from(getWorldSimApi()->listInstanceSegmentationPoses(ned, only_visible));
         });

Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp

@@ -1212,6 +1212,10 @@ TMap<FString, float> FObjectAnnotator::GetComponentToValueMap() {
 	return name_to_value_map_;
 }
 
+TArray<FColor> FObjectAnnotator::GetColorMap(){
+	return ColorGenerator_.GetColorMap();
+}
+
 
 void FObjectAnnotator::EndPlay() {
 
@@ -1341,6 +1345,10 @@ int FColorGenerator::GetGammaCorrectedColor(int color_index) {
 	return GammaCorrectionTable_[color_index];
 }
 
+static TArray<FColor> FColorGenerator::GetColorMap(){
+	return color_map_;
+}
+
 int32 FColorGenerator::GammaCorrectionTable_[256] =
 {
 	0,

Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.h

@@ -13,6 +13,7 @@ class FColorGenerator
 	FColor GetColorFromColorMap(int32 ObjectIndex);
 	int GetIndexForColor(FColor color);
 	int GetGammaCorrectedColor(int color_index);
+	static TArray<FColor> GetColorMap();
 
 private:
 	int32 GetChannelValue(uint32 Index);
@@ -71,6 +72,8 @@ class AIRSIM_API FObjectAnnotator
 
 	static void SetViewForAnnotationRender(FEngineShowFlags& show_flags);
 
+	TArray<FColor> GetColorMap();
+
 	bool IsDirect();
 	FObjectAnnotator::AnnotatorType GetType();
 

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

@@ -772,6 +772,15 @@ std::vector<std::string> ASimModeBase::GetAllInstanceSegmentationMeshIDs() {
     return instance_segmentation_annotator_.GetAllComponentNames();
 }
 
+TArray<msr::airlib::Vector3r> ASimModeBase::GetInstanceSegmentationColorMap() {
+    TArray<FColor> color_map = instance_segmentation_annotator_.GetColorMap();
+    TArray<msr::airlib::Vector3r> color_map_vector;
+    for (FColor color : color_map) {
+        color_map_vector.Add(msr::airlib::Vector3r(color.R, color.G, color.B));
+    }
+    return color_map_vector;
+}
+
 TMap<UMeshComponent*, FString> ASimModeBase::GetInstanceSegmentationComponentToNameMap() {
     return instance_segmentation_annotator_.GetComponentToNameMap();
 }

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

@@ -184,14 +184,15 @@ class AIRSIM_API ASimModeBase : public AActor
     const PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "") const
     {
         return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
-    }
+    }W
     PawnSimApi* getVehicleSimApi(const std::string& vehicle_name = "")
     {
         return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
     }
 	std::vector<std::string> GetAllInstanceSegmentationMeshIDs();
     std::vector<msr::airlib::Pose> GetAllInstanceSegmentationMeshPoses(bool ned = true, bool only_visible = false);
     TMap<UMeshComponent*, FString> GetInstanceSegmentationComponentToNameMap();
+    TArray<msr::airlib::Vector3r> GetInstanceSegmentationColorMap();
 
 	bool SetMeshInstanceSegmentationID(const std::string& mesh_name, int object_id, bool is_name_regex, bool update_annotation = true);
     int GetMeshInstanceSegmentationID(const std::string& mesh_name);

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -383,11 +383,17 @@ bool WorldSimApi::runConsoleCommand(const std::string& command)
                                              true);
     return succeeded;
 }
+
 std::vector<std::string> WorldSimApi::listInstanceSegmentationObjects() const
 {
     return simmode_->GetAllInstanceSegmentationMeshIDs();
 }
 
+std::vector<msr::airlib::Vector3r> WorldSimApi::getInstanceSegmentationColorMap() const
+{
+    return simmode_->GetInstanceSegmentationColorMap();
+}
+
 std::vector <msr::airlib::Pose> WorldSimApi::listInstanceSegmentationPoses(bool ned, bool only_visible) const
 {
     return simmode_->GetAllInstanceSegmentationMeshPoses(ned, only_visible);

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -40,6 +40,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase
     virtual void setWeatherParameter(WeatherParameter param, float val);
 
     virtual std::vector<std::string> listInstanceSegmentationObjects() const override;
+    virtual std::vector<Vector3r> getInstanceSegmentationColorMap() const override;
     virtual std::vector<Pose> listInstanceSegmentationPoses(bool ned = true, bool only_visible = false) const override;
 
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id, bool is_name_regex = false) override;

build.sh

@@ -138,11 +138,11 @@ set +x
 
 echo ""
 echo ""
-echo "=================================================================="
-echo " AirSim plugin is built! Here's how to build Unreal project."
-echo "=================================================================="
+echo "==============================="
+echo " Cosys-AirSim plugin is built!."
+echo "==============================="
 echo ""
-echo "For further info see:"
+echo "For further info see for installation see:"
 echo "https://cosysgit.uantwerpen.be/sensorsimulation/airsim/-/tree/mastermaster/docs/install_linux.md"
 echo "=================================================================="
 

setup.sh

@@ -188,6 +188,6 @@ popd >/dev/null
 
 set +x
 echo ""
-echo "************************************"
-echo "AirSim setup completed successfully!"
-echo "************************************"
+echo "******************************************"
+echo "Cosys-AirSim setup completed successfully!"
+echo "******************************************"