Fix some warnings, cleanup

microsoft · Mar 18, 2021 · 1f53fa9 · 1f53fa9
1 parent 0a76444
commit 1f53fa9
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Showing 8 changed files with 26 additions and 34 deletions.
diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp
@@ -5,8 +5,7 @@
 #define air_WorldSimApiBase_hpp
 
 #include "common/CommonStructs.hpp"
-#include "common/AirSimSettings.hpp"
-
+#include "common/ImageCaptureBase.hpp"
 
 namespace msr { namespace airlib {
 
@@ -82,7 +81,7 @@ class WorldSimApiBase {
 
     // Image APIs
     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,
+    virtual void setCameraPose(const std::string& camera_name, const 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;
@@ -91,7 +90,7 @@ class WorldSimApiBase {
     virtual std::vector<float> getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "",
                                                     bool external = false) const = 0;
 
-    virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests, 
+    virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests,
         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;

diff --git a/PythonClient/airsim/client.py b/PythonClient/airsim/client.py
@@ -522,7 +522,6 @@ def simSetDistortionParams(self, camera_name, distortion_params, vehicle_name =
         """
 
         for param_name, value in distortion_params.items():
-            # self.client.call('simSetDistortionParam', str(camera_name), param_name, value, vehicle_name, external)
             self.simSetDistortionParam(camera_name, param_name, value, vehicle_name, external)
 
     def simSetDistortionParam(self, camera_name, param_name, value, vehicle_name = '', external = False):

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.h b/Unreal/Plugins/AirSim/Source/PIPCamera.h
@@ -43,14 +43,14 @@ class AIRSIM_API APIPCamera : public ACameraActor
 
     void setCameraTypeEnabled(ImageType type, bool enabled);
     bool getCameraTypeEnabled(ImageType type) const;
-    void setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform);
+    void setupCameraFromSettings(const CameraSetting& camera_setting, const NedTransform& ned_transform);
     void setCameraPose(const msr::airlib::Pose& relative_pose);
     void setCameraFoV(float fov_degrees);
     msr::airlib::CameraInfo getCameraInfo() const;
     std::vector<float> getDistortionParams() const;
     void setDistortionParam(const std::string& param_name, float value);
 
-    msr::airlib::ProjectionMatrix getProjectionMatrix(const APIPCamera::ImageType image_type) const;
+    msr::airlib::ProjectionMatrix getProjectionMatrix(const ImageType image_type) const;
 
 
     USceneCaptureComponent2D* getCaptureComponent(const ImageType type, bool if_active);

diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h
@@ -33,7 +33,6 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase {
     typedef msr::airlib::real_T real_T;
     typedef msr::airlib::Utils Utils;
     typedef msr::airlib::AirSimSettings::VehicleSetting VehicleSetting;
-    typedef msr::airlib::ImageCaptureBase ImageCaptureBase;
 
     struct Params {
         APawn* pawn; 

diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp
@@ -509,18 +509,14 @@ bool ASimModeBase::isRecording() const
 
 const APIPCamera* ASimModeBase::getCamera(const std::string& camera_name, const std::string& vehicle_name, bool external) const
 {
-    if (external)
-        return getExternalCamera(camera_name);
-    else
-        return 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
 {
-    if (external)
-        return external_image_capture_.get();
-    else
-        return 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
@@ -151,7 +151,7 @@ class AIRSIM_API ASimModeBase : public AActor
     virtual void initializeExternalCameras();
 
 protected: //Utility methods for derived classes
-    virtual const msr::airlib::AirSimSettings& getSettings() const;
+    virtual const AirSimSettings& getSettings() const;
     FRotator toFRotator(const AirSimSettings::Rotation& rotation, const FRotator& default_val);
 
 

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp
@@ -574,11 +574,11 @@ 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
+msr::airlib::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]() {
-        auto camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    msr::airlib::CameraInfo info;
+    const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    UAirBlueprintLib::RunCommandOnGameThread([camera, &info]() {
         info = camera->getCameraInfo();
     }, true);
 
@@ -588,36 +588,35 @@ CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std:
 void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose,
                                const std::string& vehicle_name, bool external)
 {
-    UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &pose]() {
-        auto camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    UAirBlueprintLib::RunCommandOnGameThread([camera, &pose]() {
         camera->setCameraPose(pose);
     }, true);
 }
 
 void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees,
                                const std::string& vehicle_name, bool external)
 {
-    UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &fov_degrees]() {
-        auto camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    UAirBlueprintLib::RunCommandOnGameThread([camera, &fov_degrees]() {
         camera->setCameraFoV(fov_degrees);
     }, true);
 }
 
 void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value,
                                     const std::string& vehicle_name, bool external)
 {
-    UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external,
-                                              &param_name, &value]() {
-        auto camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    UAirBlueprintLib::RunCommandOnGameThread([camera, &param_name, &value]() {
         camera->setDistortionParam(param_name, value);
     }, true);
 }
 
 std::vector<float> WorldSimApi::getDistortionParams(const std::string& camera_name, const std::string& vehicle_name, bool external) const
 {
     std::vector<float> param_values;
-    UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &param_values]() {
-        auto camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external);
+    UAirBlueprintLib::RunCommandOnGameThread([camera, &param_values]() {
         param_values = camera->getDistortionParams();
     }, true);
 

diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h
@@ -82,10 +82,10 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
     virtual std::vector<float> getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "",
                                                     bool external = false) const override;
 
-    std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests, 
-        const std::string& vehicle_name = "", bool external = false) const;
-    std::vector<uint8_t> getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type,
-        const std::string& vehicle_name = "", bool external = false) const;
+    virtual std::vector<ImageCaptureBase::ImageResponse> getImages(const std::vector<ImageCaptureBase::ImageRequest>& requests,
+        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;
 
 private:
     AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);