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Merge pull request #4481 from rajat2004/fix-camera-defaults
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Use CameraDefaults settings for all cameras
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@zimmy87
zimmy87 authored Apr 25, 2022
2 parents 78c400f + 1b2c243 commit d1e0f25
Showing 1 changed file with 32 additions and 24 deletions.
56 changes: 32 additions & 24 deletions AirLib/include/common/AirSimSettings.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -193,15 +193,17 @@ namespace airlib
std::map<int, PixelFormatOverrideSetting> pixel_format_override_settings;
};

using CaptureSettingsMap = std::map<int, CaptureSetting>;
using NoiseSettingsMap = std::map<int, NoiseSetting>;
struct CameraSetting
{
//nan means keep the default values set in components
Vector3r position = VectorMath::nanVector();
Rotation rotation = Rotation::nanRotation();

GimbalSetting gimbal;
std::map<int, CaptureSetting> capture_settings;
std::map<int, NoiseSetting> noise_settings;
CaptureSettingsMap capture_settings;
NoiseSettingsMap noise_settings;

UnrealEngineSetting ue_setting;

Expand All @@ -211,6 +213,7 @@ namespace airlib
initializeNoiseSettings(noise_settings);
}
};
using CameraSettingMap = std::map<std::string, CameraSetting>;

struct CameraDirectorSetting
{
Expand Down Expand Up @@ -271,7 +274,7 @@ namespace airlib
Vector3r position = VectorMath::nanVector(); //in global NED
Rotation rotation = Rotation::nanRotation();

std::map<std::string, CameraSetting> cameras;
CameraSettingMap cameras;
std::map<std::string, std::shared_ptr<SensorSetting>> sensors;

RCSettings rc;
Expand Down Expand Up @@ -411,7 +414,7 @@ namespace airlib
std::string speed_unit_label = "m\\s";
std::map<std::string, std::shared_ptr<SensorSetting>> sensor_defaults;
Vector3r wind = Vector3r::Zero();
std::map<std::string, CameraSetting> external_cameras;
CameraSettingMap external_cameras;

std::string settings_text_ = "";

Expand Down Expand Up @@ -446,8 +449,8 @@ namespace airlib
loadPawnPaths(settings_json, pawn_paths);
loadOtherSettings(settings_json);
loadDefaultSensorSettings(simmode_name, settings_json, sensor_defaults);
loadVehicleSettings(simmode_name, settings_json, vehicles, sensor_defaults);
loadExternalCameraSettings(settings_json, external_cameras);
loadVehicleSettings(simmode_name, settings_json, vehicles, sensor_defaults, camera_defaults);
loadExternalCameraSettings(settings_json, external_cameras, camera_defaults);

//this should be done last because it depends on vehicles (and/or their type) we have
loadRecordingSetting(settings_json);
Expand Down Expand Up @@ -706,7 +709,7 @@ namespace airlib
}
}

static void initializeCaptureSettings(std::map<int, CaptureSetting>& capture_settings)
static void initializeCaptureSettings(CaptureSettingsMap& capture_settings)
{
capture_settings.clear();
for (int i = -1; i < Utils::toNumeric(ImageType::Count); ++i) {
Expand All @@ -715,9 +718,10 @@ namespace airlib
capture_settings.at(Utils::toNumeric(ImageType::Scene)).target_gamma = CaptureSetting::kSceneTargetGamma;
}

static void loadCaptureSettings(const Settings& settings_json, std::map<int, CaptureSetting>& capture_settings)
static void loadCaptureSettings(const Settings& settings_json, CaptureSettingsMap& capture_settings)
{
initializeCaptureSettings(capture_settings);
// We don't call initializeCaptureSettings here since it's already called in CameraSettings constructor
// And to avoid overwriting any defaults already set from CameraDefaults

Settings json_parent;
if (settings_json.getChild("CaptureSettings", json_parent)) {
Expand Down Expand Up @@ -801,7 +805,8 @@ namespace airlib

static std::unique_ptr<VehicleSetting> createVehicleSetting(const std::string& simmode_name, const Settings& settings_json,
const std::string vehicle_name,
std::map<std::string, std::shared_ptr<SensorSetting>>& sensor_defaults)
std::map<std::string, std::shared_ptr<SensorSetting>>& sensor_defaults,
const CameraSetting& camera_defaults)
{
auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", ""));

Expand Down Expand Up @@ -843,7 +848,7 @@ namespace airlib
vehicle_setting->position = createVectorSetting(settings_json, vehicle_setting->position);
vehicle_setting->rotation = createRotationSetting(settings_json, vehicle_setting->rotation);

loadCameraSettings(settings_json, vehicle_setting->cameras);
loadCameraSettings(settings_json, vehicle_setting->cameras, camera_defaults);
loadSensorSettings(settings_json, "Sensors", vehicle_setting->sensors, sensor_defaults);

return vehicle_setting;
Expand Down Expand Up @@ -887,7 +892,8 @@ namespace airlib

static void loadVehicleSettings(const std::string& simmode_name, const Settings& settings_json,
std::map<std::string, std::unique_ptr<VehicleSetting>>& vehicles,
std::map<std::string, std::shared_ptr<SensorSetting>>& sensor_defaults)
std::map<std::string, std::shared_ptr<SensorSetting>>& sensor_defaults,
const CameraSetting& camera_defaults)
{
createDefaultVehicle(simmode_name, vehicles, sensor_defaults);

Expand All @@ -903,7 +909,7 @@ namespace airlib
for (const auto& key : keys) {
msr::airlib::Settings child;
vehicles_child.getChild(key, child);
vehicles[key] = createVehicleSetting(simmode_name, child, key, sensor_defaults);
vehicles[key] = createVehicleSetting(simmode_name, child, key, sensor_defaults, camera_defaults);
}
}
}
Expand Down Expand Up @@ -978,17 +984,18 @@ namespace airlib
}
}

static void initializeNoiseSettings(std::map<int, NoiseSetting>& noise_settings)
static void initializeNoiseSettings(NoiseSettingsMap& noise_settings)
{
const int image_count = Utils::toNumeric(ImageType::Count);
noise_settings.clear();
for (int i = -1; i < image_count; ++i)
noise_settings[i] = NoiseSetting();
}

static void loadNoiseSettings(const Settings& settings_json, std::map<int, NoiseSetting>& noise_settings)
static void loadNoiseSettings(const Settings& settings_json, NoiseSettingsMap& noise_settings)
{
initializeNoiseSettings(noise_settings);
// We don't call initializeNoiseSettings here since it's already called in CameraSettings constructor
// And to avoid overwriting any defaults already set from CameraDefaults

Settings json_parent;
if (settings_json.getChild("NoiseSettings", json_parent)) {
Expand All @@ -1003,7 +1010,7 @@ namespace airlib
}
}

static void loadNoiseSetting(const msr::airlib::Settings& settings_json, NoiseSetting& noise_setting)
static void loadNoiseSetting(const Settings& settings_json, NoiseSetting& noise_setting)
{
noise_setting.Enabled = settings_json.getBool("Enabled", noise_setting.Enabled);
noise_setting.ImageType = settings_json.getInt("ImageType", noise_setting.ImageType);
Expand Down Expand Up @@ -1058,9 +1065,9 @@ namespace airlib
}
}

static CameraSetting createCameraSetting(const Settings& settings_json)
static CameraSetting createCameraSetting(const Settings& settings_json, const CameraSetting& camera_defaults)
{
CameraSetting setting;
CameraSetting setting = camera_defaults;

setting.position = createVectorSetting(settings_json, setting.position);
setting.rotation = createRotationSetting(settings_json, setting.rotation);
Expand All @@ -1076,7 +1083,8 @@ namespace airlib
return setting;
}

static void loadCameraSettings(const Settings& settings_json, std::map<std::string, CameraSetting>& cameras)
static void loadCameraSettings(const Settings& settings_json, CameraSettingMap& cameras,
const CameraSetting& camera_defaults)
{
cameras.clear();

Expand All @@ -1088,7 +1096,7 @@ namespace airlib
for (const auto& key : keys) {
msr::airlib::Settings child;
json_parent.getChild(key, child);
cameras[key] = createCameraSetting(child);
cameras[key] = createCameraSetting(child, camera_defaults);
}
}
}
Expand Down Expand Up @@ -1201,7 +1209,7 @@ namespace airlib
{
Settings child_json;
if (settings_json.getChild("CameraDefaults", child_json)) {
camera_defaults = createCameraSetting(child_json);
camera_defaults = createCameraSetting(child_json, camera_defaults);
}
}

Expand Down Expand Up @@ -1377,7 +1385,7 @@ namespace airlib
createDefaultSensorSettings(simmode_name, sensors);
}

static void loadExternalCameraSettings(const Settings& settings_json, std::map<std::string, CameraSetting>& external_cameras)
static void loadExternalCameraSettings(const Settings& settings_json, CameraSettingMap& external_cameras, const CameraSetting& camera_defaults)
{
external_cameras.clear();

Expand All @@ -1389,7 +1397,7 @@ namespace airlib
for (const auto& key : keys) {
Settings child;
json_parent.getChild(key, child);
external_cameras[key] = createCameraSetting(child);
external_cameras[key] = createCameraSetting(child, camera_defaults);
}
}
}
Expand Down

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