Add getCameraInfo API for external cameras

microsoft · Jan 19, 2021 · e6f6069 · e6f6069
1 parent 3c71e12
commit e6f6069
Show file tree

Hide file tree

Showing 10 changed files with 49 additions and 9 deletions.
diff --git a/AirLib/include/api/RpcLibClientBase.hpp b/AirLib/include/api/RpcLibClientBase.hpp
@@ -102,7 +102,7 @@ class RpcLibClientBase {
 
     CollisionInfo simGetCollisionInfo(const std::string& vehicle_name = "") const;
 
-    CameraInfo simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "") const;
+    CameraInfo simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) const;
     void simSetDistortionParam(const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name = "");
     std::vector<float> simGetDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "");
     void simSetCameraPose(const std::string& camera_name, const Pose& pose, const std::string& vehicle_name = "");

diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -74,6 +74,10 @@ class WorldSimApiBase {
     virtual bool isRecording() const = 0;
 
     virtual void setWind(const Vector3r& wind) const = 0;
+
+    // Image APIs
+    virtual CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name="", bool external=false) const = 0;
+
 };
 
 

diff --git a/AirLib/src/api/RpcLibClientBase.cpp b/AirLib/src/api/RpcLibClientBase.cpp
@@ -376,9 +376,9 @@ bool RpcLibClientBase::simSetObjectScale(const std::string& object_name, const m
 	return pimpl_->client.call("simSetObjectScale", object_name, RpcLibAdapatorsBase::Vector3r(scale)).as<bool>();
 }
 
-CameraInfo RpcLibClientBase::simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name) const
+CameraInfo RpcLibClientBase::simGetCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const
 {
-    return pimpl_->client.call("simGetCameraInfo", camera_name, vehicle_name).as<RpcLibAdapatorsBase::CameraInfo>().to();
+    return pimpl_->client.call("simGetCameraInfo", camera_name, vehicle_name, external).as<RpcLibAdapatorsBase::CameraInfo>().to();
 }
 
 void RpcLibClientBase::simSetCameraPose(const std::string& camera_name, const Pose& pose, const std::string& vehicle_name)

diff --git a/AirLib/src/api/RpcLibServerBase.cpp b/AirLib/src/api/RpcLibServerBase.cpp
@@ -233,8 +233,9 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
         return RpcLibAdapatorsBase::DistanceSensorData(distance_sensor_data);
     });
 
-    pimpl_->server.bind("simGetCameraInfo", [&](const std::string& camera_name, const std::string& vehicle_name) -> RpcLibAdapatorsBase::CameraInfo {
-        const auto& camera_info = getVehicleSimApi(vehicle_name)->getCameraInfo(camera_name);
+    pimpl_->server.bind("simGetCameraInfo", [&](const std::string& camera_name, const std::string& vehicle_name, bool external) -> RpcLibAdapatorsBase::CameraInfo {
+        // const auto& camera_info = getVehicleSimApi(vehicle_name)->getCameraInfo(camera_name);
+        const auto& camera_info = getWorldSimApi()->getCameraInfo(camera_name, vehicle_name, external);
         return RpcLibAdapatorsBase::CameraInfo(camera_info);
     });
 

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -468,7 +468,7 @@ def simPrintLogMessage(self, message, message_param = "", severity = 0):
         """
         self.client.call('simPrintLogMessage', message, message_param, severity)
 
-    def simGetCameraInfo(self, camera_name, vehicle_name = ''):
+    def simGetCameraInfo(self, camera_name, vehicle_name = '', external=False):
         """
         Get details about the camera
 
@@ -480,7 +480,7 @@ def simGetCameraInfo(self, camera_name, vehicle_name = ''):
             CameraInfo:
         """
         # TODO: below str() conversion is only needed for legacy reason and should be removed in future
-        return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name))
+        return CameraInfo.from_msgpack(self.client.call('simGetCameraInfo', str(camera_name), vehicle_name, external))
 
     def simGetDistortionParams(self, camera_name, vehicle_name = ''):
         """

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp
@@ -400,8 +400,7 @@ void PawnSimApi::plot(std::istream& s, FColor color, const Vector3r& offset)
 
 msr::airlib::CameraInfo PawnSimApi::getCameraInfo(const std::string& camera_name) const
 {
-    const APIPCamera* camera = getCamera(camera_name);
-    return camera->getCameraInfo();
+    return getCamera(camera_name)->getCameraInfo();
 }
 
 void PawnSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose)

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -498,6 +498,14 @@ bool ASimModeBase::isRecording() const
     return FRecordingThread::isRecording();
 }
 
+msr::airlib::CameraInfo ASimModeBase::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const
+{
+    if (external)
+        return getExternalCamera(camera_name)->getCameraInfo();
+    else
+        return getVehicleSimApi(vehicle_name)->getCameraInfo(camera_name);
+}
+
 //API server start/stop
 void ASimModeBase::startApiServer()
 {

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.h
@@ -70,6 +70,8 @@ class AIRSIM_API ASimModeBase : public AActor
     virtual void stopRecording();
     virtual bool isRecording() const;
 
+    virtual msr::airlib::CameraInfo getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const;
+
     void startApiServer();
     void stopApiServer();
     bool isApiServerStarted();
@@ -89,6 +91,17 @@ class AIRSIM_API ASimModeBase : public AActor
         return static_cast<PawnSimApi*>(api_provider_->getVehicleSimApi(vehicle_name));
     }
 
+    const APIPCamera* getExternalCamera(const std::string& camera_name) const
+    {
+        return external_cameras_.findOrDefault(camera_name, nullptr);
+    }
+
+    APIPCamera* getExternalCamera(const std::string& camera_name)
+    {
+        return const_cast<APIPCamera*>(
+            static_cast<const ASimModeBase*>(this)->getExternalCamera(camera_name));
+    }
+
     TMap<FString, FAssetData> asset_map;
     TMap<FString, AActor*> scene_object_map;
 

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -558,3 +558,13 @@ void WorldSimApi::setWind(const Vector3r& wind) const
 {
     simmode_->setWind(wind);
 }
+
+CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const
+{
+    CameraInfo info;
+    UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, external, &info]() {
+        info = simmode_->getCameraInfo(camera_name, vehicle_name, external);
+    }, true);
+
+    return info;
+}
diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -67,6 +67,11 @@ 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;
+
+
 private:
     AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);
     void spawnPlayer();