From c22956a8dea406ae4e2fd171034a32eba58ba394 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 1 Jul 2025 10:42:42 +0200 Subject: [PATCH 01/70] WIP 5.6 documentation --- CHANGELOG.md | 1 + README.md | 2 +- docs/docker_ubuntu.md | 6 +++--- docs/install_linux.md | 6 +++--- docs/install_windows.md | 4 ++-- docs/packaging.md | 2 +- docs/run_packaged.md | 2 +- docs/skid_steer_vehicle.md | 2 +- 8 files changed, 13 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index ce44caf28..f9740f484 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,4 +1,5 @@ ### Development (version 3.4) +* Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. ### April 2025 (version 3.3) diff --git a/README.md b/README.md index 875137a61..e42568b66 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ Please note that we use that same [MIT license](https://github.com/Cosys-Lab/Cos Do note that this repository is provided as is, will not be actively updated and comes without warranty or support. Please contact a Cosys-Lab researcher to get more in depth information on which branch or version is best for your work. -This [5.5 dev branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.5dev) is for the development of Cosys-AirSim on Unreal Engine v5.5.0. The documentation is best read from [source](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.5dev/docs). +This [5.6 dev branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.6dev) is for the development of Cosys-AirSim on Unreal Engine v5.6.0. The documentation is best read from [source](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.6dev/docs). For the latest stable and maintained build for a recent Unreal Engine see the [main branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/main) and associated builds in the [releases](https://github.com/Cosys-Lab/Cosys-AirSim/releases). Unreal [5.2.1](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.2.1) is also available for long term support builds. diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index bacf6b729..6e80657b8 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -69,8 +69,8 @@ xhost +local:docker $ cd Airsim/docker; $ python build_airsim_image.py \ --source \ - ----base_image ghcr.io/epicgames/unreal-engine:dev-5.5.X \ - --target_image=airsim_source:dev-5.5.X + ----base_image ghcr.io/epicgames/unreal-engine:dev-5.6.X \ + --target_image=airsim_source:dev-5.6.X ``` #### Running Cosys-AirSim container @@ -78,7 +78,7 @@ $ python build_airsim_image.py \ ```bash xhost +local:docker -./run_airsim_image_source.sh airsim_source:dev-5.5.X +./run_airsim_image_source.sh airsim_source:dev-5.6.X ``` Syntax is `./run_airsim_image_source.sh DOCKER_IMAGE_NAME` diff --git a/docs/install_linux.md b/docs/install_linux.md index 49bcf8d30..447840639 100755 --- a/docs/install_linux.md +++ b/docs/install_linux.md @@ -12,10 +12,10 @@ sudo ./llvm.sh ``` ## Install Unreal Engine -Download the latest version of Unreal Engine 5.5 from the [official download page](https://www.unrealengine.com/en-US/linux). +Download the latest version of Unreal Engine 5.6 from the [official download page](https://www.unrealengine.com/en-US/linux). This will require an Epic Games account. Once the zip archive is downloaded you can extract it to where you want to install the Unreal Engine. ```bash -unzip Linux_Unreal_Engine_5.5.X.zip -d destination_folder +unzip Linux_Unreal_Engine_5.6.X.zip -d destination_folder ``` If you chose a folder such as for example `/opt/UnrealEngine` make sure to provide permissions and to set the owner, otherwise you might run into issues: ```bash @@ -23,7 +23,7 @@ sudo chmod -R 777 /opt/UnrealEngine sudo chown -r yourusername /opt/UnrealEngine ``` From where you install Unreal Engine, you can run `Engine/Binaries/Linux/UnrealEditor` from the terminal to launch Unreal Engine. -For more information you can read the [quick start guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/linux-development-quickstart-for-unreal-engine?application_version=5.5). +For more information you can read the [quick start guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/linux-development-quickstart-for-unreal-engine?application_version=5.6). You can alternatively install Unreal Engine from source if you do not use a Ubuntu distribution, see the documentation linked above for more information. diff --git a/docs/install_windows.md b/docs/install_windows.md index e50201005..611e6080b 100644 --- a/docs/install_windows.md +++ b/docs/install_windows.md @@ -3,12 +3,12 @@ ## Install Unreal Engine 1. [Download](https://www.unrealengine.com/download) the Epic Games Launcher. While the Unreal Engine is open source and free to download, registration is still required. 2. Run the Epic Games Launcher, open the `Unreal Engine` tab on the left pane. -Click on the `Install` button on the top right, which should show the option to download **Unreal Engine 5.5.X**. Chose the install location to suit your needs, as shown in the images below. If you have multiple versions of Unreal installed then **make sure the version you are using is set to `current`** by clicking down arrow next to the Launch button for the version. +Click on the `Install` button on the top right, which should show the option to download **Unreal Engine 5.6.X**. Chose the install location to suit your needs, as shown in the images below. If you have multiple versions of Unreal installed then **make sure the version you are using is set to `current`** by clicking down arrow next to the Launch button for the version. ![Unreal Engine Tab UI Screenshot](images/ue_install.png) ![Unreal Engine Install Location UI Screenshot](images/ue_install_location.png) ## Build Cosys-AirSim -* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.5). +* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.6). * Start `Developer Command Prompt for VS 2022`. * Clone the repo: `git clone https://github.com/Cosys-Lab/Cosys-AirSim.git`, and go the AirSim directory by `cd Cosys-AirSim`. * Run `build.cmd` from the command line. This will create ready to use plugin bits in the `Unreal\Plugins` folder that can be dropped into any Unreal project. diff --git a/docs/packaging.md b/docs/packaging.md index ae9641135..ca5b624db 100644 --- a/docs/packaging.md +++ b/docs/packaging.md @@ -9,7 +9,7 @@ packaging an entire project including the plugin. First you need to build the library. On Windows: -* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.5). +* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.6). * Start `Developer Command Prompt for VS 2022`. * Clone the repo: `git clone https://github.com/Cosys-Lab/Cosys-AirSim.git`, and go the AirSim directory by `cd Cosys-AirSim`. * Run `build.cmd` from the command line. This will create ready to use plugin bits in the `Unreal\Plugins` folder. diff --git a/docs/run_packaged.md b/docs/run_packaged.md index 49bfb748c..b48765bba 100644 --- a/docs/run_packaged.md +++ b/docs/run_packaged.md @@ -1,7 +1,7 @@ # Download and run Packaged Binary If you wish to test the Cosys-AirSim plugin a simple environment without having to install Unreal Engine, you can download the prepackaged binary for the Blocks test environment from the [releases page](https://github.com/Cosys-Lab/Cosys-AirSim/releases) and run it as a binary executable on Windows (_Blocks.exe_) or start it with a shell script (_./Blocks.sh_) on Linux systems. -They support multiple launch arguments. More info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/command-line-arguments-in-unreal-engine?application_version=5.5). +They support multiple launch arguments. More info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/command-line-arguments-in-unreal-engine?application_version=5.6). The releases page also comes with additional downloads and links to the several API implementations for ROS(2) and the Python and Matlab API clients for that specific version of the Cosys-AirSim plugin. diff --git a/docs/skid_steer_vehicle.md b/docs/skid_steer_vehicle.md index 5ad19da90..548fd6e76 100644 --- a/docs/skid_steer_vehicle.md +++ b/docs/skid_steer_vehicle.md @@ -9,7 +9,7 @@ It is build using the Chaos engine of Unreal which does not support this vehicle ## Creating a new skid steer vehicle The steps to setup the vehicle are largely the same as a WheeledVehiclePawn with some slight adjustments. -1. Follow [this guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/how-to-set-up-vehicles-in-unreal-engine?application_version=5.5) to create the skeletal mesh and physics asset. +1. Follow [this guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/how-to-set-up-vehicles-in-unreal-engine?application_version=5.6) to create the skeletal mesh and physics asset. 2. For the wheels setup, the vehicle should have 4 wheels, 2 for the left side and 2 for the right side. Please use SkidWheel as the wheel class. 3. For the vehicle blueprint to create the pawn it is also largely the same as in that tutorial however as class one should use the *SkidVehiclePawn* sub-class. The vehicle setup parameters are more simplified. 4. To have animated wheels, proper physics and correct steering behavior, please take a look at how the CPHusky is configured in the AirSim plugin. The Husky is a skid steer vehicle and can be used as a reference. From ab3f2bc3e0eb45a7300177390243adad6e753d96 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 1 Jul 2025 11:26:43 +0200 Subject: [PATCH 02/70] Fixes for Unreal 5.6 --- Unreal/Environments/Blocks/Blocks.uproject | 2 +- Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp | 15 ++++++++++++++- Unreal/Plugins/AirSim/Source/PawnSimApi.cpp | 4 ++-- Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp | 2 +- Unreal/Plugins/AirSim/Source/WorldSimApi.cpp | 3 +-- 5 files changed, 19 insertions(+), 7 deletions(-) diff --git a/Unreal/Environments/Blocks/Blocks.uproject b/Unreal/Environments/Blocks/Blocks.uproject index b4aef6c07..818254649 100644 --- a/Unreal/Environments/Blocks/Blocks.uproject +++ b/Unreal/Environments/Blocks/Blocks.uproject @@ -1,6 +1,6 @@ { "FileVersion": 3, - "EngineAssociation": "5.5", + "EngineAssociation": "5.6", "Category": "", "Description": "", "Modules": [ diff --git a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp index 93b4f43fd..89346e6b5 100644 --- a/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp +++ b/Unreal/Plugins/AirSim/Source/AirBlueprintLib.cpp @@ -58,7 +58,20 @@ EAppReturnType::Type UAirBlueprintLib::ShowMessage(EAppMsgType::Type message_typ ULineBatchComponent* GetLineBatcher(const UWorld* InWorld, bool bPersistentLines, float LifeTime, bool bDepthIsForeground) { - return (InWorld ? (bDepthIsForeground ? InWorld->ForegroundLineBatcher : ((bPersistentLines || (LifeTime > 0.f)) ? InWorld->PersistentLineBatcher : InWorld->LineBatcher)) : NULL); + + if (InWorld) + { + if (bPersistentLines || LifeTime > 0.f) + { + return bDepthIsForeground ? InWorld->GetLineBatcher(UWorld::ELineBatcherType::ForegroundPersistent) : InWorld->GetLineBatcher(UWorld::ELineBatcherType::WorldPersistent); + } + else + { + return bDepthIsForeground ? InWorld->GetLineBatcher(UWorld::ELineBatcherType::Foreground) : InWorld->GetLineBatcher(UWorld::ELineBatcherType::World); + } + } + return nullptr; + //return (InWorld ? (bDepthIsForeground ? InWorld->ForegroundLineBatcher : ((bPersistentLines || (LifeTime > 0.f)) ? InWorld->PersistentLineBatcher : InWorld->LineBatcher)) : NULL); } static float GetLineLifeTime(ULineBatchComponent* LineBatcher, float LifeTime, bool bPersistent) diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp index 508062eb1..f0d23b50b 100755 --- a/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp +++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.cpp @@ -438,12 +438,12 @@ bool PawnSimApi::testLineOfSightToPoint(const msr::airlib::GeoPoint& lla) const if (hit) { // No LOS, so draw red line FLinearColor color{ 1.0f, 0, 0, 0.4f }; - params_.pawn->GetWorld()->LineBatcher->DrawLine(params_.pawn->GetActorLocation(), target_location, color, SDPG_World, 10, -1); + UAirBlueprintLib::DrawLine(params_.pawn->GetWorld(), params_.pawn->GetActorLocation(), target_location, color.ToFColor(false), SDPG_World, 10, -1); } else { // Yes LOS, so draw green line FLinearColor color{ 0, 1.0f, 0, 0.4f }; - params_.pawn->GetWorld()->LineBatcher->DrawLine(params_.pawn->GetActorLocation(), target_location, color, SDPG_World, 10, -1); + UAirBlueprintLib::DrawLine(params_.pawn->GetWorld(), params_.pawn->GetActorLocation(), target_location, color.ToFColor(false), SDPG_World, 10, -1); } } }, diff --git a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp index c82ecae77..c808f737a 100644 --- a/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp +++ b/Unreal/Plugins/AirSim/Source/SimHUD/SimHUD.cpp @@ -171,7 +171,7 @@ void ASimHUD::createMainWidget() //create main widget if (widget_class_ != nullptr) { APlayerController* player_controller = this->GetWorld()->GetFirstPlayerController(); - auto* pawn = player_controller->GetPawn(); + TObjectPtr pawn = player_controller->GetPawn(); if (pawn) { std::string pawn_name = std::string(TCHAR_TO_ANSI(*pawn->GetName())); Utils::log(pawn_name); diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp index bffd69967..1df0dea0d 100644 --- a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp +++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp @@ -856,8 +856,7 @@ bool WorldSimApi::testLineOfSightBetweenPoints(const msr::airlib::GeoPoint& lla1 // Yes LOS, so draw green line color = FLinearColor{ 0, 1.0f, 0, 0.4f }; } - - simmode_->GetWorld()->PersistentLineBatcher->DrawLine(point1, point2, color, SDPG_World, 4, 999999); + UAirBlueprintLib::DrawLine(simmode_->GetWorld(), point1, point2, color.ToFColor(false), SDPG_World, 10, -1); } }, true); From d44edf26fc2eab39199c33d044f4a8bb84bb86a0 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 1 Jul 2025 11:54:26 +0200 Subject: [PATCH 03/70] workaround for build issue on 5.6 --- Unreal/Plugins/AirSim/Source/AirSim.Build.cs | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Unreal/Plugins/AirSim/Source/AirSim.Build.cs b/Unreal/Plugins/AirSim/Source/AirSim.Build.cs index 6109d172d..cd9a0b70f 100644 --- a/Unreal/Plugins/AirSim/Source/AirSim.Build.cs +++ b/Unreal/Plugins/AirSim/Source/AirSim.Build.cs @@ -93,6 +93,13 @@ public AirSim(ReadOnlyTargetRules Target) : base(Target) PublicIncludePaths.Add(Path.Combine(AirLibPath, "deps", "eigen3")); AddOSLibDependencies(Target); + PrivateIncludePaths.AddRange( + new string[] { + Path.Combine(GetModuleDirectory("Renderer"), "Private"), + Path.Combine(GetModuleDirectory("Renderer"), "Internal"), + } + ); + SetupCompileMode(CompileMode.HeaderOnlyWithRpc, Target); } From e4bad64c78cff993536690409a9cebe623b25eaa Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 1 Jul 2025 16:02:21 +0200 Subject: [PATCH 04/70] fixed crash on endplay --- Unreal/Plugins/AirSim/Config/FilterPlugin.ini | 8 ++++++++ Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp | 2 ++ Unreal/Plugins/AirSim/Source/LidarCamera.cpp | 1 + Unreal/Plugins/AirSim/Source/PIPCamera.cpp | 3 +++ Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp | 2 ++ .../Source/Vehicles/ComputerVision/ComputerVisionPawn.cpp | 3 +++ .../AirSim/Source/Vehicles/SkidSteer/SkidVehiclePawn.cpp | 3 +++ 7 files changed, 22 insertions(+) create mode 100644 Unreal/Plugins/AirSim/Config/FilterPlugin.ini diff --git a/Unreal/Plugins/AirSim/Config/FilterPlugin.ini b/Unreal/Plugins/AirSim/Config/FilterPlugin.ini new file mode 100644 index 000000000..ccebca2f3 --- /dev/null +++ b/Unreal/Plugins/AirSim/Config/FilterPlugin.ini @@ -0,0 +1,8 @@ +[FilterPlugin] +; This section lists additional files which will be packaged along with your plugin. Paths should be listed relative to the root plugin directory, and +; may include "...", "*", and "?" wildcards to match directories, files, and individual characters respectively. +; +; Examples: +; /README.txt +; /Extras/... +; /Binaries/ThirdParty/*.dll diff --git a/Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp b/Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp index 9881b9f17..17f0b8c9b 100644 --- a/Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp +++ b/Unreal/Plugins/AirSim/Source/AirSimCameraDirector.cpp @@ -207,6 +207,8 @@ void AAirSimCameraDirector::EndPlay(const EEndPlayReason::Type EndPlayReason) backup_camera_ = nullptr; front_camera_ = nullptr; follow_actor_ = nullptr; + + Super::EndPlay(EndPlayReason); } APIPCamera* AAirSimCameraDirector::getFpvCamera() const diff --git a/Unreal/Plugins/AirSim/Source/LidarCamera.cpp b/Unreal/Plugins/AirSim/Source/LidarCamera.cpp index 0f0bf5274..01ef33e4e 100755 --- a/Unreal/Plugins/AirSim/Source/LidarCamera.cpp +++ b/Unreal/Plugins/AirSim/Source/LidarCamera.cpp @@ -142,6 +142,7 @@ void ALidarCamera::EndPlay(const EEndPlayReason::Type EndPlayReason) render_target_2D_segmentation_ = nullptr; capture_2D_intensity_ = nullptr; render_target_2D_intensity_ = nullptr; + Super::EndPlay(EndPlayReason); } // Get all the settings from AirSim diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp index df94876ce..e7ae455a8 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp @@ -399,6 +399,9 @@ void APIPCamera::EndPlay(const EEndPlayReason::Type EndPlayReason) captures_.Empty(); render_targets_.Empty(); detections_.Empty(); + + + Super::EndPlay(EndPlayReason); } unsigned int APIPCamera::imageTypeCount() diff --git a/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp b/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp index 952683e41..ccf326da2 100644 --- a/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp +++ b/Unreal/Plugins/AirSim/Source/Vehicles/Car/CarPawn.cpp @@ -236,6 +236,8 @@ void ACarPawn::EndPlay(const EEndPlayReason::Type EndPlayReason) camera_front_right_base_ = nullptr; camera_driver_base_ = nullptr; camera_back_center_base_ = nullptr; + + Super::EndPlay(EndPlayReason); } void ACarPawn::Tick(float Delta) diff --git a/Unreal/Plugins/AirSim/Source/Vehicles/ComputerVision/ComputerVisionPawn.cpp b/Unreal/Plugins/AirSim/Source/Vehicles/ComputerVision/ComputerVisionPawn.cpp index 1855cd5e8..0b02082bd 100644 --- a/Unreal/Plugins/AirSim/Source/Vehicles/ComputerVision/ComputerVisionPawn.cpp +++ b/Unreal/Plugins/AirSim/Source/Vehicles/ComputerVision/ComputerVisionPawn.cpp @@ -105,6 +105,9 @@ void AComputerVisionPawn::EndPlay(const EEndPlayReason::Type EndPlayReason) camera_back_center_base_ = nullptr; manual_pose_controller_ = nullptr; + + + Super::EndPlay(EndPlayReason); } void AComputerVisionPawn::Tick(float Delta) diff --git a/Unreal/Plugins/AirSim/Source/Vehicles/SkidSteer/SkidVehiclePawn.cpp b/Unreal/Plugins/AirSim/Source/Vehicles/SkidSteer/SkidVehiclePawn.cpp index 209d43ca0..917a9b768 100755 --- a/Unreal/Plugins/AirSim/Source/Vehicles/SkidSteer/SkidVehiclePawn.cpp +++ b/Unreal/Plugins/AirSim/Source/Vehicles/SkidSteer/SkidVehiclePawn.cpp @@ -239,6 +239,9 @@ void ASkidVehiclePawn::EndPlay(const EEndPlayReason::Type EndPlayReason) camera_front_right_base_ = nullptr; camera_driver_base_ = nullptr; camera_back_center_base_ = nullptr; + + + Super::EndPlay(EndPlayReason); } void ASkidVehiclePawn::Tick(float Delta) From 57e77a382b6a1637242d69cb2356292ea15e4e26 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 1 Jul 2025 16:06:07 +0200 Subject: [PATCH 05/70] updated for crashfix --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f9740f484..c3896e57b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,7 @@ ### Development (version 3.4) * Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. +* Fixed common crash on ending play. ### April 2025 (version 3.3) * The latest available stable Unreal Engine version that is now targeted for release is 5.5. This means 5.4 will no longer be actively maintained. From ff7d7025f9696130eb02b60581ea4acd2325495b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 8 Jul 2025 12:48:24 +0200 Subject: [PATCH 06/70] Fixed several edge-cases and crashes in annotation system --- CHANGELOG.md | 3 + .../Source/Annotation/ObjectAnnotator.cpp | 109 +++--------------- .../Source/Annotation/ObjectAnnotator.h | 3 - 3 files changed, 18 insertions(+), 97 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index c3896e57b..39d155fca 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,11 @@ ### Development (version 3.4) * Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. +* Added unique index to each object name in the annotation system to avoid duplicate name overrides. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. +* Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. + ### April 2025 (version 3.3) * The latest available stable Unreal Engine version that is now targeted for release is 5.5. This means 5.4 will no longer be actively maintained. * The documentation now is placed on a sub-URL page here: https://cosys-lab.github.io/Cosys-AirSim diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index 3aeacd2b0..ae09b04e2 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -152,15 +152,17 @@ void FObjectAnnotator::getPaintableComponentMeshes(AActor* actor, TMapEmplace(component_name, component); + index++; } } if (USkinnedMeshComponent* skinnedmesh_component = Cast(component)) { component_name = actor->GetName(); component_name.Append("_"); component_name.Append(FString::FromInt(PersistentPrimitiveIndex)); + paintable_components_meshes->Emplace(component_name, component); + index++; } - paintable_components_meshes->Emplace(component_name, component); - index++; } } } @@ -262,19 +264,21 @@ void FObjectAnnotator::getPaintableComponentMeshesAndTags(AActor* actor, TMapGetName()); } + component_name.Append("_"); + component_name.Append(FString::FromInt(PersistentPrimitiveIndex)); + paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); + paintable_components_meshes->Emplace(component_name, component); + index++; } - component_name.Append("_"); - component_name.Append(FString::FromInt(PersistentPrimitiveIndex)); - paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); } if (USkinnedMeshComponent* skinnedmesh_component = Cast(component)) { component_name = actor->GetName(); component_name.Append("_"); component_name.Append(FString::FromInt(PersistentPrimitiveIndex)); paintable_components_tags->Emplace(component_name, skinnedmesh_component->ComponentTags); + paintable_components_meshes->Emplace(component_name, component); + index++; } - paintable_components_meshes->Emplace(component_name, component); - index++; } } } @@ -289,18 +293,6 @@ bool FObjectAnnotator::SetComponentRGBColorByIndex(FString component_id, uint32 { FString color_string = FString::FromInt(color.R) + "," + FString::FromInt(color.G) + "," + FString::FromInt(color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.B)); - const FString* found_index_color = color_to_name_map_.FindKey(component_id); - - if (found_index_color != nullptr) { - color_to_name_map_.Remove(*found_index_color); - } - color_to_name_map_.Emplace(color_string, component_id); - const FString* found_index_color_gamma = gammacorrected_color_to_name_map_.FindKey(component_id); - if (found_index_color != nullptr) { - gammacorrected_color_to_name_map_.Remove(*found_index_color_gamma); - } - color_to_name_map_.Emplace(color_string, component_id); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, component_id); name_to_color_index_map_[component_id] = color_index; name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new ID # %s (RGB: %s)"), *name_, *component_id, *FString::FromInt(color_index), *color_string_gammacorrected); @@ -328,18 +320,6 @@ bool FObjectAnnotator::SetComponentRGBColorByColor(FString component_id, FColor { FString color_string = FString::FromInt(color.R) + "," + FString::FromInt(color.G) + "," + FString::FromInt(color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.B)); - const FString* found_index_color = color_to_name_map_.FindKey(component_id); - - if (found_index_color != nullptr) { - color_to_name_map_.Remove(*found_index_color); - } - color_to_name_map_.Emplace(color_string, component_id); - const FString* found_index_color_gamma = gammacorrected_color_to_name_map_.FindKey(component_id); - if (found_index_color != nullptr) { - gammacorrected_color_to_name_map_.Remove(*found_index_color_gamma); - } - color_to_name_map_.Emplace(color_string, component_id); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, component_id); name_to_color_index_map_[component_id] = color_index; name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new RGB color: %s (ID # %s)"), *name_, *component_id, *color_string_gammacorrected , *FString::FromInt(color_index)); @@ -373,18 +353,6 @@ bool FObjectAnnotator::SetComponentGreyScaleColorByValue(FString component_id, f { FString color_string = FString::FromInt(color.R) + "," + FString::FromInt(color.G) + "," + FString::FromInt(color.B); FString color_string_gammacorrected = color_string; - const FString* found_index_color = color_to_name_map_.FindKey(component_id); - - if (found_index_color != nullptr) { - color_to_name_map_.Remove(*found_index_color); - } - color_to_name_map_.Emplace(color_string, component_id); - const FString* found_index_color_gamma = gammacorrected_color_to_name_map_.FindKey(component_id); - if (found_index_color != nullptr) { - gammacorrected_color_to_name_map_.Remove(*found_index_color_gamma); - } - color_to_name_map_.Emplace(color_string, component_id); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, component_id); name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; name_to_value_map_[component_id] = greyscale_value; UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted greyscale annotation of object %s to new value %f (RGB: %s)"), *name_, *component_id, greyscale_value, *color_string_gammacorrected); @@ -515,8 +483,6 @@ bool FObjectAnnotator::AnnotateNewActorInstanceSegmentation(AActor* actor) { FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); check(PaintRGBComponent(it.Value(), new_color, it.Key())); UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(ObjectIndex), *color_string_gammacorrected); }else{ @@ -565,20 +531,10 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { if (name_to_component_map_.Contains(it.Key())) { name_to_color_index_map_[it.Key()] = color_index; - const FString* found_index_color = color_to_name_map_.FindKey(it.Key()); - if (found_index_color != nullptr) { - color_to_name_map_.Remove(*found_index_color); - } - color_to_name_map_.Emplace(color_string, it.Key()); - const FString* found_index_color_gamma = gammacorrected_color_to_name_map_.FindKey(it.Key()); - if (found_index_color != nullptr) { - gammacorrected_color_to_name_map_.Remove(*found_index_color_gamma); - } - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(UpdatePaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with direct RGB color: %s (ID # %s)"), *name_, *it.Key(), *color_string_gammacorrected, *FString::FromInt(color_index)); + UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { @@ -589,12 +545,10 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { name_to_component_map_.Emplace(it.Key(), it.Value()); component_to_name_map_.Emplace(it.Value(), it.Key()); name_to_color_index_map_.Emplace(it.Key(), color_index); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s (ID # %s)"), *name_, *it.Key(), *color_string_gammacorrected, *FString::FromInt(color_index)); + UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { @@ -608,8 +562,6 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { name_to_color_index_map_.Emplace(it.Key(), 2744000 - 1); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); @@ -653,17 +605,7 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { if (name_to_component_map_.Contains(it.Key())) { - const FString* found_index_color = color_to_name_map_.FindKey(it.Key()); - if (found_index_color != nullptr) { - color_to_name_map_.Remove(*found_index_color); - } - color_to_name_map_.Emplace(color_string, it.Key()); - const FString* found_index_color_gamma = gammacorrected_color_to_name_map_.FindKey(it.Key()); - if (found_index_color != nullptr) { - gammacorrected_color_to_name_map_.Remove(*found_index_color_gamma); - } name_to_value_map_[it.Key()] = greyscale_value; - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_[it.Key()] = color_string_gammacorrected; check(UpdatePaintRGBComponent(it.Value(), new_color, it.Key())); @@ -671,9 +613,7 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { } else { name_to_component_map_.Emplace(it.Key(), it.Value()); - component_to_name_map_.Emplace(it.Value(), it.Key()); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); + component_to_name_map_.Emplace(it.Value(), it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), greyscale_value); check(PaintRGBComponent(it.Value(), new_color, it.Key())); @@ -685,8 +625,6 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { FColor new_color = FColor(0, 0, 0); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = color_string; - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), 0); check(PaintRGBComponent(it.Value(), new_color, it.Key())); @@ -884,8 +822,6 @@ void FObjectAnnotator::InitializeInstanceSegmentation(ULevel* InLevel) name_to_color_index_map_.Emplace(it.Key(), color_index); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); @@ -935,12 +871,10 @@ void FObjectAnnotator::InitializeRGB(ULevel* InLevel) name_to_color_index_map_.Emplace(it.Key(), color_index); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s (ID # %s)"), *name_, *it.Key(), *color_string_gammacorrected, *FString::FromInt(color_index)); + UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { @@ -954,8 +888,6 @@ void FObjectAnnotator::InitializeRGB(ULevel* InLevel) name_to_color_index_map_.Emplace(it.Key(), 2744000 - 1); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); @@ -1004,8 +936,6 @@ void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = color_string; - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), greyscale_value); check(PaintRGBComponent(it.Value(), new_color, it.Key())); @@ -1017,8 +947,6 @@ void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) FColor new_color = FColor(0, 0, 0); FString color_string = FString::FromInt(new_color.R) + "," + FString::FromInt(new_color.G) + "," + FString::FromInt(new_color.B); FString color_string_gammacorrected = color_string; - color_to_name_map_.Emplace(color_string, it.Key()); - gammacorrected_color_to_name_map_.Emplace(color_string_gammacorrected, it.Key()); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), 0); check(PaintRGBComponent(it.Value(), new_color, it.Key())); @@ -1303,11 +1231,6 @@ TMap FObjectAnnotator::GetComponentToNameMap() { return component_to_name_map_; } - -TMap FObjectAnnotator::GetColorToComponentNameMap() { - return gammacorrected_color_to_name_map_; -} - TMap FObjectAnnotator::GetComponentToValueMap() { return name_to_value_map_; } @@ -1337,8 +1260,6 @@ void FObjectAnnotator::EndPlay() { } name_to_color_index_map_.Empty(); - color_to_name_map_.Empty(); - gammacorrected_color_to_name_map_.Empty(); name_to_component_map_.Empty(); annotation_component_list_.Empty(); name_to_gammacorrected_color_map_.Empty(); diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.h b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.h index b74527332..0990ca8a9 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.h @@ -88,7 +88,6 @@ class AIRSIM_API FObjectAnnotator std::vector GetAllComponentNames(); TMap GetNameToComponentMap(); - TMap GetColorToComponentNameMap(); TMap GetComponentToValueMap(); TMap GetComponentToNameMap(); @@ -120,8 +119,6 @@ class AIRSIM_API FObjectAnnotator TMap name_to_gammacorrected_color_map_; TMap name_to_value_map_; TMap name_to_texture_path_map_; - TMap color_to_name_map_; - TMap gammacorrected_color_to_name_map_; TMap name_to_component_map_; TMap component_to_name_map_; TArray> annotation_component_list_; From a27bb1157f347ede22c5d87ffde862951c64fd7e Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Wed, 30 Jul 2025 18:37:04 +0200 Subject: [PATCH 07/70] Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. --- CHANGELOG.md | 1 + .../Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp | 9 +++------ 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 39d155fca..9c1b9094c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,7 @@ ### Development (version 3.4) * Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Added unique index to each object name in the annotation system to avoid duplicate name overrides. +* Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index ae09b04e2..628fe0e41 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -219,8 +219,7 @@ void FObjectAnnotator::getPaintableComponentMeshesAndTags(AActor* actor, TMapEmplace(component_name, component); if (actor->Tags.Num() > 0) paintable_components_tags->Emplace(component_name, actor->Tags); - else - paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); + paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); } else { FString component_name = actor->GetName(); @@ -229,8 +228,7 @@ void FObjectAnnotator::getPaintableComponentMeshesAndTags(AActor* actor, TMapEmplace(component_name, component); if (actor->Tags.Num() > 0) paintable_components_tags->Emplace(component_name, actor->Tags); - else - paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); + paintable_components_tags->Emplace(component_name, staticmesh_component->ComponentTags); } } @@ -241,8 +239,7 @@ void FObjectAnnotator::getPaintableComponentMeshesAndTags(AActor* actor, TMapTags.Num() > 0) paintable_components_tags->Emplace(component_name, actor->Tags); - else - paintable_components_tags->Emplace(component_name, SkinnedMeshComponent->ComponentTags); + paintable_components_tags->Emplace(component_name, SkinnedMeshComponent->ComponentTags); paintable_components_meshes->Emplace(component_name, component); } } From 7da91d41eaa4289875d206e4c443bd2f9dfffd49 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 2 Oct 2025 10:29:13 +0200 Subject: [PATCH 08/70] Disabled annotator log spam --- .../Source/Annotation/ObjectAnnotator.cpp | 68 +++++++++---------- 1 file changed, 34 insertions(+), 34 deletions(-) diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index 628fe0e41..f3707c8ee 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -292,7 +292,7 @@ bool FObjectAnnotator::SetComponentRGBColorByIndex(FString component_id, uint32 FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.B)); name_to_color_index_map_[component_id] = color_index; name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new ID # %s (RGB: %s)"), *name_, *component_id, *FString::FromInt(color_index), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new ID # %s (RGB: %s)"), *name_, *component_id, *FString::FromInt(color_index), *color_string_gammacorrected); return true; } else @@ -319,7 +319,7 @@ bool FObjectAnnotator::SetComponentRGBColorByColor(FString component_id, FColor FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(color.B)); name_to_color_index_map_[component_id] = color_index; name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new RGB color: %s (ID # %s)"), *name_, *component_id, *color_string_gammacorrected , *FString::FromInt(color_index)); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted RGB annotation of object %s to new RGB color: %s (ID # %s)"), *name_, *component_id, *color_string_gammacorrected , *FString::FromInt(color_index)); return true; } else @@ -352,7 +352,7 @@ bool FObjectAnnotator::SetComponentGreyScaleColorByValue(FString component_id, f FString color_string_gammacorrected = color_string; name_to_gammacorrected_color_map_[component_id] = color_string_gammacorrected; name_to_value_map_[component_id] = greyscale_value; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted greyscale annotation of object %s to new value %f (RGB: %s)"), *name_, *component_id, greyscale_value, *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted greyscale annotation of object %s to new value %f (RGB: %s)"), *name_, *component_id, greyscale_value, *color_string_gammacorrected); return true; } else @@ -383,7 +383,7 @@ bool FObjectAnnotator::SetComponentTextureByDirectPath(FString component_id, FSt if (UpdatePaintTextureComponent(component, path, component_id)) { name_to_texture_path_map_[component_id] = new_texture; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted texture annotation of object %s to new direct texture %s"), *name_, *component_id, *path); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted texture annotation of object %s to new direct texture %s"), *name_, *component_id, *path); return true; } else @@ -425,7 +425,7 @@ bool FObjectAnnotator::SetComponentTextureByRelativePath(FString component_id) if (UpdatePaintTextureComponent(component, new_texture, component_id)) { name_to_texture_path_map_[component_id] = new_texture; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted texture annotation of object %s to new relative texture %s"), *name_, *component_id, *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Adjusted texture annotation of object %s to new relative texture %s"), *name_, *component_id, *new_texture); return true; } else @@ -481,9 +481,9 @@ bool FObjectAnnotator::AnnotateNewActorInstanceSegmentation(AActor* actor) { FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(ObjectIndex), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(ObjectIndex), *color_string_gammacorrected); }else{ - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Ignored new object %s"), *name_, *it.Key()); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Ignored new object %s"), *name_, *it.Key()); } } } @@ -531,11 +531,11 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(UpdatePaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); } } else { @@ -545,11 +545,11 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); } } }else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { @@ -561,7 +561,7 @@ bool FObjectAnnotator::AnnotateNewActorRGB(AActor* actor) { FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); } } return true; @@ -606,7 +606,7 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { name_to_gammacorrected_color_map_[it.Key()] = color_string_gammacorrected; check(UpdatePaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated greyscale annotated object %s with value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value, *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated greyscale annotated object %s with value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value, *color_string_gammacorrected); } else { name_to_component_map_.Emplace(it.Key(), it.Value()); @@ -614,7 +614,7 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), greyscale_value); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new greyscale annotated object %s with value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value, *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new greyscale annotated object %s with value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value, *color_string_gammacorrected); } }else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { name_to_component_map_.Emplace(it.Key(), it.Value()); @@ -625,7 +625,7 @@ bool FObjectAnnotator::AnnotateNewActorGreyscale(AActor* actor) { name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), 0); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged greyscale annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged greyscale annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); } } return true; @@ -674,11 +674,11 @@ bool FObjectAnnotator::AnnotateNewActorTexture(AActor* actor) { name_to_texture_path_map_[it.Key()] = new_texture; check(UpdatePaintTextureComponent(it.Value(), new_texture, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Updated texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } } else { @@ -687,11 +687,11 @@ bool FObjectAnnotator::AnnotateNewActorTexture(AActor* actor) { name_to_texture_path_map_.Emplace(it.Key(), new_texture); check(PaintTextureComponent(it.Value(), new_texture, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } } }else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { @@ -700,7 +700,7 @@ bool FObjectAnnotator::AnnotateNewActorTexture(AActor* actor) { FString new_texture = "/AirSim/HUDAssets/k"; name_to_texture_path_map_.Emplace(it.Key(), new_texture); check(PaintTextureComponent(it.Value(), new_texture, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged texture annotated object %s with default texture"), *name_, *it.Key()); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged texture annotated object %s with default texture"), *name_, *it.Key()); } } return true; @@ -721,7 +721,7 @@ bool FObjectAnnotator::DeleteActor(AActor* actor) component_to_name_map_.Remove(it.Value()); check(DeleteComponent(it.Value())); name_to_component_map_.Remove(it.Key()); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Deleted object %s."), *name_, *it.Key()); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Deleted object %s."), *name_, *it.Key()); } else { @@ -803,7 +803,7 @@ FString FObjectAnnotator::GetComponentTexturePath(FString component_id) void FObjectAnnotator::InitializeInstanceSegmentation(ULevel* InLevel) { uint32 color_index = 0; - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level instance segmentation annotation."), *name_); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level instance segmentation annotation."), *name_); for (AActor* actor : InLevel->Actors) { if (actor && IsPaintable(actor)) @@ -821,7 +821,7 @@ void FObjectAnnotator::InitializeInstanceSegmentation(ULevel* InLevel) FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); color_index++; } } @@ -832,7 +832,7 @@ void FObjectAnnotator::InitializeInstanceSegmentation(ULevel* InLevel) void FObjectAnnotator::InitializeRGB(ULevel* InLevel) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level RGB annotation by searching for tags."), *name_); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level RGB annotation by searching for tags."), *name_); for (AActor* actor : InLevel->Actors) { if (actor && IsPaintable(actor)) @@ -871,11 +871,11 @@ void FObjectAnnotator::InitializeRGB(ULevel* InLevel) name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with direct RGB color: %s"), *name_, *it.Key(), *color_string_gammacorrected); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new RGB annotated object %s with ID # %s (RGB: %s)"), *name_, *it.Key(), *FString::FromInt(color_index), *color_string_gammacorrected); } } else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { @@ -887,7 +887,7 @@ void FObjectAnnotator::InitializeRGB(ULevel* InLevel) FString color_string_gammacorrected = FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.R)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.G)) + "," + FString::FromInt(ColorGenerator_.GetGammaCorrectedColor(new_color.B)); name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged RGB annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); } } @@ -898,7 +898,7 @@ void FObjectAnnotator::InitializeRGB(ULevel* InLevel) void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level greyscale annotation by searching for tags."), *name_); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level greyscale annotation by searching for tags."), *name_); for (AActor* actor : InLevel->Actors) { if (actor && IsPaintable(actor)) @@ -936,7 +936,7 @@ void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), greyscale_value); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new greyscale annotated object %s with direct greyscale value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value , *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new greyscale annotated object %s with direct greyscale value %f (RGB: %s)"), *name_, *it.Key(), greyscale_value , *color_string_gammacorrected); } else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { name_to_component_map_.Emplace(it.Key(), it.Value()); @@ -947,7 +947,7 @@ void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) name_to_gammacorrected_color_map_.Emplace(it.Key(), color_string_gammacorrected); name_to_value_map_.Emplace(it.Key(), 0); check(PaintRGBComponent(it.Value(), new_color, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged greyscale annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged greyscale annotated object %s with default color (RGB: %s)"), *name_, *it.Key(), *color_string_gammacorrected); } } } @@ -957,7 +957,7 @@ void FObjectAnnotator::InitializeGreyscale(ULevel* InLevel) void FObjectAnnotator::InitializeTexture(ULevel* InLevel) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level texture annotation by searching for tags."), *name_); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Starting full level texture annotation by searching for tags."), *name_); for (AActor* actor : InLevel->Actors) { if (actor && IsPaintable(actor)) @@ -1002,10 +1002,10 @@ void FObjectAnnotator::InitializeTexture(ULevel* InLevel) name_to_texture_path_map_.Emplace(it.Key(), new_texture); check(PaintTextureComponent(it.Value(), new_texture, it.Key())); if (set_direct_) { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } else { - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); } } else if (show_by_default_ && !it.Key().Contains("hidden_sphere") && !it.Key().Contains("AnnotationSphere")) { @@ -1014,7 +1014,7 @@ void FObjectAnnotator::InitializeTexture(ULevel* InLevel) FString new_texture = "/AirSim/HUDAssets/k"; name_to_texture_path_map_.Emplace(it.Key(), new_texture); check(PaintTextureComponent(it.Value(), new_texture, it.Key())); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged texture annotated object %s with default texture"), *name_, *it.Key()); + //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added untagged texture annotated object %s with default texture"), *name_, *it.Key()); } } From 5fafdf1b250e52f8b0bbfe15c6a421c04d1c3d09 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 2 Oct 2025 10:29:34 +0200 Subject: [PATCH 09/70] Made scene camera use autofocus by default. 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This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Added unique index to each object name in the annotation system to avoid duplicate name overrides. * Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. +* Updated annotation system to now print everything to log. +* Updated default camera to use auto-focus. Manual focus still available through API. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. From 83cf3423702e76c4854f49daac5d397c1382df36 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 2 Oct 2025 11:19:52 +0200 Subject: [PATCH 11/70] fix typo --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8176cac5e..55b9f4dec 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,7 +2,7 @@ * Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Added unique index to each object name in the annotation system to avoid duplicate name overrides. * Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. -* Updated annotation system to now print everything to log. +* Updated annotation system to stop printing everything to log. * Updated default camera to use auto-focus. Manual focus still available through API. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. From 057e692ff10fdcf85ac1816c4fb35dcd7bd35523 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:06:16 +0200 Subject: [PATCH 12/70] Update Unreal Engine build instructions added batch file folder mention --- docs/packaging.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/packaging.md b/docs/packaging.md index ca5b624db..ad7dcf9e7 100644 --- a/docs/packaging.md +++ b/docs/packaging.md @@ -24,12 +24,12 @@ Then you can package the plugin as a standalone plugin from a Unreal Project lik On Windows: * Open the Blocks project in Unreal Engine `cd Cosys-AirSim/Unreal/Environments/Blocks` and pull the latest plugin files by running `update_from_git.bat`. -* Go to your Unreal Engine installation folder and run the build script while pointing at the Blocks project: `./RunUAT.bat BuildPlugin -Plugin=....\Cosys-AirSim\Unreal\Environments\Blocks\Plugins\AirSim\AirSim.uplugin -Package=....\airsimpluginpackagewin -Rocket -TargetPlatforms=Win64` +* Go to your Unreal Engine installation folder, move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.bat BuildPlugin -Plugin=....\Cosys-AirSim\Unreal\Environments\Blocks\Plugins\AirSim\AirSim.uplugin -Package=....\airsimpluginpackagewin -Rocket -TargetPlatforms=Win64` On Linux: * Open the Blocks project in Unreal Engine `cd Cosys-AirSim/Unreal/Environments/Blocks` and pull the latest plugin files by running `update_from_git.sh`. -* Go to your Unreal Engine installation folder and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildPlugin -Plugin=..../Cosys-AirSim/Unreal/Environments/Blocks/Plugins/AirSim/AirSim.uplugin -Package=..../airsimpluginpackagelinux -Rocket -TargetPlatforms=Linux` +* Go to your Unreal Engine installation folder move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildPlugin -Plugin=..../Cosys-AirSim/Unreal/Environments/Blocks/Plugins/AirSim/AirSim.uplugin -Package=..../airsimpluginpackagelinux -Rocket -TargetPlatforms=Linux` ## Building an Unreal Project with Cosys-AirSim Plugin @@ -52,12 +52,12 @@ Then you can package the plugin as a standalone plugin from a Unreal Project lik On Windows: * Open the Blocks project in Unreal Engine `cd Cosys-AirSim/Unreal/Environments/Blocks` and pull the latest plugin files by running `update_from_git.bat`. -* Go to your Unreal Engine installation folder and run the build script while pointing at the Blocks project: `./RunUAT.bat BuildCookRun -cook -noP4 -build -stage -noiterate -archive -project=....\Cosys-AirSim\Unreal\Environments\Blocks\Blocks.uproject -archivedirectory=....\blockswin -Rocket -TargetPlatforms=Win64 -configuration=Development` +* Go to your Unreal Engine installation folder, move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.bat BuildCookRun -cook -noP4 -build -stage -noiterate -archive -project=....\Cosys-AirSim\Unreal\Environments\Blocks\Blocks.uproject -archivedirectory=....\blockswin -Rocket -TargetPlatforms=Win64 -configuration=Development` On Linux: * Open the Blocks project in Unreal Engine `cd Cosys-AirSim/Unreal/Environments/Blocks` and pull the latest plugin files by running `update_from_git.sh`. -* Go to your Unreal Engine installation folder and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project="..../Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject" -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory="..../blockslinux/" -clientconfig=Development -nocompile -nocompileuat` +* Go to your Unreal Engine installation folder, move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project="..../Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject" -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory="..../blockslinux/" -clientconfig=Development -nocompile -nocompileuat` From ec4f599e14348525c19b9ff1a4d4b043ed24e481 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:25:14 +0200 Subject: [PATCH 13/70] Change base image to dev-slim version to fix vulkan errors --- docker/Dockerfile_binary | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile_binary b/docker/Dockerfile_binary index 0ee581c4e..620219626 100644 --- a/docker/Dockerfile_binary +++ b/docker/Dockerfile_binary @@ -1,4 +1,4 @@ -ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:runtime +ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 FROM $BASE_IMAGE USER root From ebd5bdf6bcbe4a2438123bb7e41713ce3eb3f683 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:25:30 +0200 Subject: [PATCH 14/70] Update base image to dev-slim-5.6.1 --- docker/Dockerfile_source | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/Dockerfile_source b/docker/Dockerfile_source index 326c0f568..57d5cafeb 100644 --- a/docker/Dockerfile_source +++ b/docker/Dockerfile_source @@ -1,4 +1,4 @@ -ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-5.5.0 +ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 FROM $BASE_IMAGE USER root From a41787e1256f1241c444d5ee8fad747b4f6ed91b Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:27:43 +0200 Subject: [PATCH 15/70] Update AirSim docker image builder script removed differences between source and binary --- docker/build_airsim_image.py | 23 +++++++---------------- 1 file changed, 7 insertions(+), 16 deletions(-) diff --git a/docker/build_airsim_image.py b/docker/build_airsim_image.py index eef1cb960..7e1e5cd62 100644 --- a/docker/build_airsim_image.py +++ b/docker/build_airsim_image.py @@ -2,8 +2,7 @@ import subprocess def main(): - parser = argparse.ArgumentParser(description='AirSim docker image builder') - parser.add_argument('--source', action='store_true', help='compile unreal and airsim from source') # default is false + parser = argparse.ArgumentParser(description='Cosys-AirSim docker image builder') parser.add_argument('--base_image', type=str, help='base image name AND tag') parser.add_argument('--target_image', type=str, help='base image name AND tag') @@ -11,21 +10,13 @@ def main(): build_docker_image(args) def build_docker_image(args): - dockerfile = 'Dockerfile_source' - if args.source: - if not args.base_image: - args.base_image = "ghcr.io/epicgames/unreal-engine:dev-5.5.0" - target_image_tag = args.base_image.split(":")[1] # take tag from base image - if not args.target_image: - args.target_image = 'airsim_source' + ':' + target_image_tag - else: - dockerfile = 'Dockerfile_binary' - if not args.base_image: - args.base_image = "ghcr.io/epicgames/unreal-engine:runtime" - target_image_tag = args.base_image.split(":")[1] # take tag from base image - if not args.target_image: - args.target_image = 'airsim_binary' + ':' + target_image_tag + dockerfile = 'DockerfileCosysAirSim' + if not args.base_image: + args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" + target_image_tag = args.base_image.split(":")[1] # take tag from base image + if not args.target_image: + args.target_image = 'airsim_binary' + ':' + target_image_tag docker_command = ['docker', 'build', '--network=host', \ '-t', args.target_image, \ From db479a27399dfbc9904b2b0e4c6a94fbfab640d4 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:30:08 +0200 Subject: [PATCH 16/70] Refactor Docker image building logic --- docker/build_airsim_image.py | 22 +++++++++++++++------- 1 file changed, 15 insertions(+), 7 deletions(-) diff --git a/docker/build_airsim_image.py b/docker/build_airsim_image.py index 7e1e5cd62..2da1f54e3 100644 --- a/docker/build_airsim_image.py +++ b/docker/build_airsim_image.py @@ -1,8 +1,8 @@ -import argparse import subprocess def main(): parser = argparse.ArgumentParser(description='Cosys-AirSim docker image builder') + parser.add_argument('--source', action='store_true', help='compile unreal and airsim from source') # default is false parser.add_argument('--base_image', type=str, help='base image name AND tag') parser.add_argument('--target_image', type=str, help='base image name AND tag') @@ -10,13 +10,21 @@ def main(): build_docker_image(args) def build_docker_image(args): + dockerfile = 'Dockerfile_source' + if args.source: + if not args.base_image: + args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" + target_image_tag = args.base_image.split(":")[1] # take tag from base image + if not args.target_image: + args.target_image = 'airsim_source' + ':' + target_image_tag - dockerfile = 'DockerfileCosysAirSim' - if not args.base_image: - args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" - target_image_tag = args.base_image.split(":")[1] # take tag from base image - if not args.target_image: - args.target_image = 'airsim_binary' + ':' + target_image_tag + else: + dockerfile = 'Dockerfile_binary' + if not args.base_image: + args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" + target_image_tag = args.base_image.split(":")[1] # take tag from base image + if not args.target_image: + args.target_image = 'airsim_binary' + ':' + target_image_tag docker_command = ['docker', 'build', '--network=host', \ '-t', args.target_image, \ From ac5b821f65428c5173d10f98f8987ff320075c30 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:45:58 +0200 Subject: [PATCH 17/70] Update docker_ubuntu.md fixes --- docs/docker_ubuntu.md | 22 ++++++++++------------ 1 file changed, 10 insertions(+), 12 deletions(-) diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index 6e80657b8..b52ddeb9a 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -1,7 +1,7 @@ # Cosys-AirSim on Docker in Linux We've two options for docker. You can either build an image for running [Cosys-AirSim binaries](#runtime-binaries), or for compiling Cosys-AirSim [from source](#source). -## Runtime Binaries +## Packaged runtime Binaries #### Requirements: - [Follow this guide for preparing setting up your GitHub access, installing Docker and authenticating with the GitHub Container Registry.](https://dev.epicgames.com/documentation/en-us/unreal-engine/quick-start-guide-for-using-container-images-in-unreal-engine). @@ -9,15 +9,15 @@ We've two options for docker. You can either build an image for running [Cosys-A #### Build the docker image - Below are the default arguments. - `--base_image`: This is image over which we'll run a runtime packaged binary. We've tested only the official Unreal Engine runtime container, more info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/overview-of-containers-in-unreal-engine). Change the base image at your own risk. + `--base_image`: This is image over which we'll run a the packaged binary. We've tested only the official Unreal Engine _dev-slim_ container, more info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/overview-of-containers-in-unreal-engine). Normally we would use the _runtime_ container but this does not currently contain the right drivers for Vulkan. Change the base image at your own risk. `--target_image` is the desired name of your docker image. Defaults to `airsim_binary` with same tag as the base image. ```bash cd Airsim/docker; python build_airsim_image.py \ - --base_image=ghcr.io/epicgames/unreal-engine:runtime \ - --target_image=airsim_binary:runtime + --base_image=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 \ + --target_image=airsim_binary:dev-slim-5.6.1 ``` - Verify you have an image by: @@ -44,10 +44,10 @@ xhost +local:docker ``` Do not forget to run the xhost command first to bind the X11 to docker. - For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary:runtime LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` + For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary: LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` ` - * `DOCKER_IMAGE_NAME`: Same as `target_image` parameter in previous step. By default, enter `airsim_binary:runtime` + * `DOCKER_IMAGE_NAME`: Same as `target_image` parameter in previous step. By default, enter `airsim_binary:dev-slim-5.6.1` * `UNREAL_BINARY_SHELL_SCRIPT`: for Blocks enviroment, it will be `LinuxBlocks/Linux/Blocks.sh` * [`UNREAL_BINARY_ARGUMENTS`](https://docs.unrealengine.com/en-us/Programming/Basics/CommandLineArguments): For airsim, most relevant would be `-windowed`, `-ResX`, `-ResY`. Click on link to see all options. @@ -69,8 +69,8 @@ xhost +local:docker $ cd Airsim/docker; $ python build_airsim_image.py \ --source \ - ----base_image ghcr.io/epicgames/unreal-engine:dev-5.6.X \ - --target_image=airsim_source:dev-5.6.X + --base_image ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 \ + --target_image=airsim_source:dev-slim-5.6.1 ``` #### Running Cosys-AirSim container @@ -78,7 +78,7 @@ $ python build_airsim_image.py \ ```bash xhost +local:docker -./run_airsim_image_source.sh airsim_source:dev-5.6.X +./run_airsim_image_source.sh airsim_source:dev-slim-5.6.1 ``` Syntax is `./run_airsim_image_source.sh DOCKER_IMAGE_NAME` @@ -100,9 +100,7 @@ xhost +local:docker In the following script, specify the full path to your unreal uproject file by `project` and the directory where you want the binaries to be placed by `archivedirectory` ```bash -/home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -platform=Linux -clientconfig=Development -serverconfig=Development -noP4 -cook -allmaps -build -stage -prereqs -pak -archive \ --archivedirectory=/home/ue4/Binaries/Blocks/ \ --project=/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject +/home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project=/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory=/home/ue4/Binaries/Blocks/ -clientconfig=Development -nocompile -nocompileuat ``` This would create a Blocks binary in `/home/ue4/Binaries/Blocks/`. From 01b617ffd34de35946659f45619c2a5999753dfe Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 10:49:13 +0200 Subject: [PATCH 18/70] Clarify plugin copying requirement for Blocks environment Added note about copying the plugin to the project folder before running the environment. --- docs/docker_ubuntu.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index b52ddeb9a..3dbe539b8 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -98,8 +98,9 @@ xhost +local:docker #### Packaging Unreal Environments in `airsim_source` containers * Let's take the Blocks environment as an example. In the following script, specify the full path to your unreal uproject file by `project` and the directory where you want the binaries to be placed by `archivedirectory` - +* If you have not run the environment once manually you still need to copy the plugin to the project folder first like with the first command below. ```bash +/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/update_from_git.sh /home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project=/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory=/home/ue4/Binaries/Blocks/ -clientconfig=Development -nocompile -nocompileuat ``` From 9e94018c138ab2b8e6b6f8e0e6bd4ea71c2a5073 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 11:56:21 +0200 Subject: [PATCH 19/70] Remove unnecessary flags from build command --- docs/packaging.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/packaging.md b/docs/packaging.md index ad7dcf9e7..52c344f6c 100644 --- a/docs/packaging.md +++ b/docs/packaging.md @@ -57,7 +57,7 @@ On Windows: On Linux: * Open the Blocks project in Unreal Engine `cd Cosys-AirSim/Unreal/Environments/Blocks` and pull the latest plugin files by running `update_from_git.sh`. -* Go to your Unreal Engine installation folder, move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project="..../Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject" -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory="..../blockslinux/" -clientconfig=Development -nocompile -nocompileuat` +* Go to your Unreal Engine installation folder, move to the subfolder `/Engine/Build/BatchFile`, and run the build script while pointing at the Blocks project: `./RunUAT.sh BuildCookRun -nop4 -utf8output -cook -project="..../Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject" -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory="..../blockslinux/" -clientconfig=Development -nocompile -nocompileuat` From 5dba18191466c4becebd3501831d5490999fcd73 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 13:21:29 +0200 Subject: [PATCH 20/70] Update InitialInstanceSegmentation and remove annotations Changed InitialInstanceSegmentation setting to false and removed annotation configurations. --- docker/settings.json | 39 ++------------------------------------- 1 file changed, 2 insertions(+), 37 deletions(-) diff --git a/docker/settings.json b/docker/settings.json index 90c8d0970..fedf2a33d 100644 --- a/docker/settings.json +++ b/docker/settings.json @@ -6,7 +6,7 @@ "ApiServerPort": 41451, "RecordUIVisible": true, "MoveWorldOrigin": false, - "InitialInstanceSegmentation": true, + "InitialInstanceSegmentation": false, "LogMessagesVisible": true, "ShowLosDebugLines": false, "ViewMode": "", @@ -16,41 +16,6 @@ "SpeedUnitFactor": 1, "SpeedUnitLabel": "m/s", "SimMode": "Car", - "Annotation": [ - { - "Name": "RGBTestDirect", - "Type": 0, - "Default": true, - "SetDirect": true, - "ViewDistance": 10 - }, - { - "Name": "RGBTestIndex", - "Type": 0, - "Default": true, - "SetDirect": false - }, - { - "Name": "GreyscaleTest", - "Type": 1, - "Default": true, - "ViewDistance": 5 - }, - { - "Name": "TextureTestDirect", - "Type": 2, - "Default": true, - "SetDirect": true - }, - { - "Name": "TextureTestRelativePath", - "Type": 2, - "Default": false, - "SetDirect": false, - "TexturePath": "/Game/AnnotationTest", - "TexturePrefix": "Test1" - } - ], "Wind": { "X": 0, "Y": 0, @@ -436,4 +401,4 @@ "DrawDebugLocation": false } } -} \ No newline at end of file +} From 8ceb40385d7988ea7eddbb01bc11ffe5de30a612 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 13:22:19 +0200 Subject: [PATCH 21/70] Update script paths for Blocks binary creation --- docs/docker_ubuntu.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index 3dbe539b8..27605afde 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -101,11 +101,11 @@ xhost +local:docker * If you have not run the environment once manually you still need to copy the plugin to the project folder first like with the first command below. ```bash /home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/update_from_git.sh -/home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -nop4 -utf8output -nocompileeditor -skipbuildeditor -cook -project=/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory=/home/ue4/Binaries/Blocks/ -clientconfig=Development -nocompile -nocompileuat +/home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -nop4 -utf8output -cook -project=/home/ue4/Cosys-AirSim/Unreal/Environments/Blocks/Blocks.uproject -target=Blocks -platform=Linux -installed -stage -archive -package -build -pak -iostore -compressed -prereqs -archivedirectory=/home/ue4/Binaries/Blocks/ -clientconfig=Development -nocompile -nocompileuat ``` This would create a Blocks binary in `/home/ue4/Binaries/Blocks/`. -You can test it by running `/home/ue4/Binaries/Blocks/LinuxNoEditor/Blocks.sh -windowed` +You can test it by running `/home/ue4/Binaries/Blocks/Linux/Blocks.sh -windowed` ## Specifying settings.json #### `airsim_binary` docker image: From 72ef03a02bbe3a32171473d0e06b7002d2720d75 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Fri, 3 Oct 2025 13:28:21 +0200 Subject: [PATCH 22/70] Add files via upload --- docker/download_blocks_env_binary.sh | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/docker/download_blocks_env_binary.sh b/docker/download_blocks_env_binary.sh index fecd7d56f..056ff9090 100755 --- a/docker/download_blocks_env_binary.sh +++ b/docker/download_blocks_env_binary.sh @@ -5,6 +5,7 @@ if ! which unzip; then sudo apt-get install unzip fi -wget -c https://github.com/Cosys-Lab/Cosys-AirSim/releases/download/5.5-v3.2/Blocks_packaged_Linux_55_32.zip -unzip -q Blocks_packaged_Linux_55_32.zip -rm Blocks_packaged_Linux_55_32.zip +wget -c https://github.com/Cosys-Lab/Cosys-AirSim/releases/download/5.6-v3.4/Blocks_packaged_Linux_56_34.zip +unzip -q Blocks_packaged_Linux_56_34.zip +rm Blocks_packaged_Linux_56_34.zip +mv Blocks_packaged_Linux_56_34 LinuxBlocks From a03371f5b3a8e53bc0db773b29a6e1effdff634d Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 3 Oct 2025 13:34:43 +0200 Subject: [PATCH 23/70] cleanup for 5.6 --- CHANGELOG.md | 1 + build.cmd | 2 +- docs/docker_ubuntu.md | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 55b9f4dec..e3575406f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,6 +4,7 @@ * Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. * Updated annotation system to stop printing everything to log. * Updated default camera to use auto-focus. Manual focus still available through API. +* Updated Docker tutorial to work better for recent Unreal versions. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. diff --git a/build.cmd b/build.cmd index 81abdb529..b41fafd80 100644 --- a/build.cmd +++ b/build.cmd @@ -15,7 +15,7 @@ if "%VisualStudioVersion%" == "" ( ) if "%VisualStudioVersion%" lss "17.0" ( echo( - echo Hello there! We just upgraded AirSim to Unreal Engine 5.5 and Visual Studio 2022. + echo Hello there! We just upgraded AirSim to Unreal Engine 5.6 and Visual Studio 2022. echo Here are few easy steps for upgrade so everything is new and shiny: echo https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/docs/unreal_upgrade.md goto :buildfailed_nomsg diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index 27605afde..67ba3c843 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -1,5 +1,5 @@ # Cosys-AirSim on Docker in Linux -We've two options for docker. You can either build an image for running [Cosys-AirSim binaries](#runtime-binaries), or for compiling Cosys-AirSim [from source](#source). +We've two options for docker. You can either build an image for running [Cosys-AirSim binaries](#packaged-runtime-binaries), or for compiling Cosys-AirSim [from source](#source). ## Packaged runtime Binaries From 1623da8b436f565178339f24960a82f787292c36 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 3 Oct 2025 14:07:29 +0200 Subject: [PATCH 24/70] typo fix --- docs/docker_ubuntu.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index 67ba3c843..f11952ca3 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -44,8 +44,7 @@ xhost +local:docker ``` Do not forget to run the xhost command first to bind the X11 to docker. - For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary: LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` -` + For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary:dev-slim-5.6.1 LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` * `DOCKER_IMAGE_NAME`: Same as `target_image` parameter in previous step. By default, enter `airsim_binary:dev-slim-5.6.1` * `UNREAL_BINARY_SHELL_SCRIPT`: for Blocks enviroment, it will be `LinuxBlocks/Linux/Blocks.sh` From 9ca90e3c49db794803573d628be00c5bb6564383 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 30 Oct 2025 15:03:27 +0100 Subject: [PATCH 25/70] improved lumen camera settings for reflections --- .../Content/Blueprints/BP_PIPCamera.uasset | Bin 40439 -> 41919 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset b/Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset index 9ea8fd564f68b3d3e74bc4bf11624c42fca335c8..6b63af258e62180488d6ef6e43074cb1cd78bb8e 100644 GIT binary patch literal 41919 zcmeHQ349bq)~^UCqA0QgiU;9P?t~Cn~P1u6V5?D2gD8cps<;%lH1(RXsgt#w57%`{?{8)&1V9ch##`Ro&Gy zYcCpd+t2&{lvrTxvLF=*@?1>oV^8Pak;3TABLs?#IS-IGeGf2zUFU zU%Kxp3M@SG{qye}{B-u%41#?a_;m0<^Bo^IzSZs4FFqL7{}_UuzV@6kzZGmd^xFmO 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6g460#VO4rq!1`FuvAw>01+SdEoQBXXl>%jU)s* zFc}V*ZN}!)FFUPvRq?H#*WIw%v*yc4uv04ZWMPBLN7*|k%>WXPYDA%{V+aGfVNB)2w5C5y@KCF4pCLr^XAS_C>m?U zIfAMS#^W&(4n5T}6%^)}oNBpfjG4Pu3naarBn)!vWnBtf_zw=wg3dtFcV0#JI6^z~ zSOM@Z-W(;B&K8Yf!Sn@rq;$g2^8nFFZOiJ2Qc=3dmMazJPzOnbVNv!$L9mpG-1h?=cNBv^TB7w z<3Nn{@i7MfuGFQ57CKklE${gW&JpZqQQ=YNj-=TZ01<25J!{*$nB zXl`!9w;}#t)SO4iPHnk9`HfB6M|VZk(uL3a*w=y$4w2pq>k7}sRuEH@l4Ye|Jyn0p zwFqE3LRVkf7KTW)`0k36sF%S`KdajOJ8O|>X!~s{W;MxQnQIxPZjiqVy|NrNHrj|@ zVzJo$__h0%k>i^mPa|^TH@@k&A+4@PZ!3uj*^K@g`uSLQ%ZOoU>C4IZ4-xvz^fTA| zC$_UnT1HLNlUrZ@{9g<8)JBsNBa_woT1biS6zWb&27Zs&v+(VV`Ne(=?ko?YSg*nBM= zHchX%wiiT7g2>1GD`Dv)H1u2KaXC=@kCys?Ivt_8y|YV&2mZ$fqzS~Zognz~`}Amy zFmBFCyZe7* z76fLAGftfINC61aJF1%4Kps_1Ogybq^AaIUn3PLI16be)8^>R4pk6N39Crw=FXeV)vLa(EDA!yQVVj9>ZfdpV^di;Of_-8pzjn2EyEV z%ou1)pPV`Eue~yV!)3!C-t~!NS5yP}+s;6kzKQPk8LT?|my|8NoYbJcg43BN_m<3NQakM$%Q7YXa zDe=(*{tX~O`Ss>#m~YYyJx4S~laIq;jgJU7Y(W6tk)q$z(RHC1i(Vk zsJE%U^P(u7Uj+OFdJPc>VIr**4GY9suPlE{h~S|jaVc^|2k975IrI~V3&gp_93&@s zo-YXM4RM8lL1gGH54e$PyaiPgBv76&6Bl|yE&4QNk{}f7wEU4b+Cm$`pJNFMTQ48H h^40@u7o?o`>}${i2||A~>>5*+_|ntK!vzrd{|hN-Njv}m From 7ba0bead4c577f9ff72838df206fde8459c442ed Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 30 Oct 2025 16:40:48 +0100 Subject: [PATCH 26/70] Fixes for Unreal 5.7 preview --- Unreal/Environments/Blocks/Blocks.uproject | 2 +- Unreal/Environments/Blocks/Source/Blocks.Target.cs | 2 +- Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Unreal/Environments/Blocks/Blocks.uproject b/Unreal/Environments/Blocks/Blocks.uproject index 818254649..8220dc773 100644 --- a/Unreal/Environments/Blocks/Blocks.uproject +++ b/Unreal/Environments/Blocks/Blocks.uproject @@ -1,6 +1,6 @@ { "FileVersion": 3, - "EngineAssociation": "5.6", + "EngineAssociation": "5.7", "Category": "", "Description": "", "Modules": [ diff --git a/Unreal/Environments/Blocks/Source/Blocks.Target.cs b/Unreal/Environments/Blocks/Source/Blocks.Target.cs index ceb9ad2f8..4858d9a9c 100644 --- a/Unreal/Environments/Blocks/Source/Blocks.Target.cs +++ b/Unreal/Environments/Blocks/Source/Blocks.Target.cs @@ -7,7 +7,7 @@ public class BlocksTarget : TargetRules { public BlocksTarget(TargetInfo Target) : base(Target) { - DefaultBuildSettings = BuildSettingsVersion.V5; + DefaultBuildSettings = BuildSettingsVersion.V6; Type = TargetType.Game; ExtraModuleNames.AddRange(new string[] { "Blocks" }); //bUseUnityBuild = false; diff --git a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs index 5cf2d73c5..3512ee2e4 100644 --- a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs +++ b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs @@ -7,7 +7,7 @@ public class BlocksEditorTarget : TargetRules { public BlocksEditorTarget(TargetInfo Target) : base(Target) { - DefaultBuildSettings = BuildSettingsVersion.V5; + DefaultBuildSettings = BuildSettingsVersion.V6; Type = TargetType.Editor; ExtraModuleNames.AddRange(new string[] { "Blocks" }); IncludeOrderVersion = EngineIncludeOrderVersion.Latest; From 2dacfd7cb42d84157a8891e0553beaee4bac86d6 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Thu, 30 Oct 2025 16:41:42 +0100 Subject: [PATCH 27/70] Fixes for Unreal 5.7 preview --- Unreal/Plugins/AirSim/Source/RenderRequest.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Unreal/Plugins/AirSim/Source/RenderRequest.cpp b/Unreal/Plugins/AirSim/Source/RenderRequest.cpp index 4914db1f4..37fc93014 100644 --- a/Unreal/Plugins/AirSim/Source/RenderRequest.cpp +++ b/Unreal/Plugins/AirSim/Source/RenderRequest.cpp @@ -152,7 +152,7 @@ void RenderRequest::ExecuteTask() FRHICommandListImmediate& RHICmdList = GetImmediateCommandList_ForRenderCommand(); auto rt_resource = params_[i]->render_target->GetRenderTargetResource(); if (rt_resource != nullptr) { - const FTexture2DRHIRef& rhi_texture = rt_resource->GetRenderTargetTexture(); + const FTextureRHIRef& rhi_texture = rt_resource->GetRenderTargetTexture(); FIntPoint size; auto flags = setupRenderResource(rt_resource, params_[i].get(), results_[i].get(), size); From 5de88a29413f591b47eda01f20d9a87593d98ecd Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 31 Oct 2025 14:20:52 +0100 Subject: [PATCH 28/70] testing for nanite skeletal meshes to work in annotation view --- .../Source/Annotation/AnnotationComponent.cpp | 300 +++++++++++++++--- .../Source/Annotation/AnnotationComponent.h | 2 + 2 files changed, 257 insertions(+), 45 deletions(-) diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp index 897b44d18..5cb86fcab 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp @@ -19,6 +19,8 @@ //different header files in UE #include "Runtime/Engine/Public/StaticMeshSceneProxy.h" #include "Runtime/Engine/Public/SkeletalMeshSceneProxy.h" +#include "Runtime/Engine/Public/NaniteSceneProxy.h" +#include "Runtime/Engine/Public/SkinnedMeshSceneProxyDesc.h" #endif #include "Runtime/Engine/Public/Rendering/SkeletalMeshRenderData.h" @@ -181,6 +183,160 @@ FPrimitiveViewRelevance FSkeletalAnnotationSceneProxy::GetViewRelevance(const FS } } +//class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy +//{ +//public: +// FNaniteSkeletalAnnotationSceneProxy( +// const USkinnedMeshComponent* InComponent, +// FSkeletalMeshRenderData* InRenderData, +// UMaterialInterface* AnnotationMID) +// : Nanite::FSkinnedSceneProxy(CreateMaterialAudit(InComponent, AnnotationMID), InComponent, InRenderData, true) +// { +// UE_LOG(LogTemp, Log, TEXT("AirSim Annotation: Created Nanite skeletal annotation proxy with %d material sections"), MaterialSections.Num()); +// } +// +//private: +// // Create a custom material audit that replaces all materials with the annotation material +// static Nanite::FMaterialAudit CreateMaterialAudit(const USkinnedMeshComponent * InComponent, UMaterialInterface * AnnotationMID) +// { +// // Start with a standard material audit +// Nanite::FMaterialAudit Audit; +// Nanite::AuditMaterials(InComponent, Audit, false); +// +// // Override all materials with the annotation material +// if (IsValid(AnnotationMID)) +// { +// // Check if annotation material is compatible with Nanite +// bool bValidUsage = AnnotationMID->CheckMaterialUsage_Concurrent(MATUSAGE_SkeletalMesh) && +// AnnotationMID->CheckMaterialUsage_Concurrent(MATUSAGE_Nanite); +// +// if (bValidUsage) +// { +// // Replace all materials in the audit with our annotation material +// for (int32 MaterialIndex = 0; MaterialIndex < Audit.GetNumMaterials(); ++MaterialIndex) +// { +// Audit.SetMaterial(MaterialIndex, AnnotationMID); +// } +// } +// else +// { +// UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Annotation material not compatible with Nanite skeletal mesh")); +// } +// } +// +// return Audit; +// } +// +//public: +// virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override +// { +// if (View->Family->EngineShowFlags.Materials) +// { +// // Don't render in regular views - only in annotation views +// FPrimitiveViewRelevance ViewRelevance; +// ViewRelevance.bDrawRelevance = 0; +// return ViewRelevance; +// } +// else +// { +// // Use base class view relevance for annotation rendering +// return Nanite::FSkinnedSceneProxy::GetViewRelevance(View); +// } +// } +//}; + + +class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy +{ +public: + FNaniteSkeletalAnnotationSceneProxy( + const USkinnedMeshComponent* InComponent, + FSkeletalMeshRenderData* InRenderData, + UMaterialInterface* AnnotationMID) + : Nanite::FSkinnedSceneProxy(CreateMaterialAudit(InComponent), InComponent, InRenderData, true) + , AnnotationMaterial(AnnotationMID) + { + // Override the material sections after construction + OverrideMaterialSections(); + + // Recalculate material-dependent properties + OnMaterialsUpdated(); + } + virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override; + + virtual void GetDynamicMeshElements( + const TArray& Views, + const FSceneViewFamily& ViewFamily, + uint32 VisibilityMap, + FMeshElementCollector& Collector) const; + +private: + UMaterialInterface* AnnotationMaterial; + + static Nanite::FMaterialAudit CreateMaterialAudit(const USkinnedMeshComponent* InComponent) + { + Nanite::FMaterialAudit Audit; + Nanite::AuditMaterials(InComponent, Audit, false); + return Audit; + } + + void OverrideMaterialSections() + { + if (!IsValid(AnnotationMaterial)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Invalid annotation material")); + return; + } + + // Check if annotation material is compatible with Nanite + bool bValidUsage = AnnotationMaterial->CheckMaterialUsage_Concurrent(MATUSAGE_Nanite); + + UMaterialInterface* MaterialToUse = bValidUsage ? AnnotationMaterial : UMaterial::GetDefaultMaterial(MD_Surface); + + // Override all material sections with the annotation material + for (FMaterialSection& MaterialSection : MaterialSections) + { + if (!MaterialSection.bHidden) + { + MaterialSection.ShadingMaterialProxy = MaterialToUse->GetRenderProxy(); + } + } + } +}; + +void FNaniteSkeletalAnnotationSceneProxy::GetDynamicMeshElements( + const TArray& Views, + const FSceneViewFamily& ViewFamily, + uint32 VisibilityMap, + FMeshElementCollector& Collector) const +{ + //if (LODSections.Num() > 0){ + // if (LODSections[0].SectionElements.Num() > 0) { + // if (LODSections[0].SectionElements[0].Material->GetName().Contains("AnnotationMaterialMID")) { + // FSkeletalMeshSceneProxy::GetDynamicMeshElements(Views, ViewFamily, VisibilityMap, Collector); + // } + // } + //} + Nanite::FSkinnedSceneProxy::GetDynamicMeshElements(Views, ViewFamily, VisibilityMap, Collector); +} + +FPrimitiveViewRelevance FNaniteSkeletalAnnotationSceneProxy::GetViewRelevance(const FSceneView* View) const +{ + if (View->Family->EngineShowFlags.Materials) + { + // Don't render in regular views - only in annotation views + FPrimitiveViewRelevance ViewRelevance; + ViewRelevance.bDrawRelevance = 0; + return ViewRelevance; + } + else + { + // Use base class view relevance for annotation rendering + return Nanite::FSkinnedSceneProxy::GetViewRelevance(View); + } +} + + // FString MeterialPath = TEXT("MaterialInstanceConstant'/UnrealCV/AnnotationColor_Inst.AnnotationColor_Inst'"); // static ConstructorHelpers::FObjectFinder AnnotationMaterialObject(*MaterialPath); UAnnotationComponent::UAnnotationComponent(const FObjectInitializer& ObjectInitializer) @@ -221,35 +377,82 @@ void UAnnotationComponent::OnRegister() { Super::OnRegister(); - if (this->GetFName().ToString().Contains("annotation_sphere")) { - AnnotationMID = UMaterialInstanceDynamic::Create(SphereMaterial, this, TEXT("AnnotationMaterialMID")); - if (!IsValid(AnnotationMID)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: SphereMaterial is not correctly initialized")); - return; - } - FLinearColor LinearAnnotationColor = FLinearColor(0, 0, 0, 1.0); - AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); + // Safety check - don't proceed if we're in a bad state + if (!IsValid(this) || IsUnreachable() || HasAnyFlags(RF_BeginDestroyed | RF_FinishDestroyed)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Component is in invalid state during OnRegister")); + return; } - else { - // Note: This can not be placed in the constructor, MID means material instance dynamic - AnnotationMID = UMaterialInstanceDynamic::Create(AnnotationMaterial, this, TEXT("AnnotationMaterialMID")); - if (!IsValid(AnnotationMID)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: ColorAnnotationMaterial is not correctly initialized")); - return; - } - const float OneOver255 = 1.0f / 255.0f; - FLinearColor LinearAnnotationColor = FLinearColor( - this->AnnotationColor.R * OneOver255, - this->AnnotationColor.G * OneOver255, - this->AnnotationColor.B * OneOver255, - 1.0 - ); - AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); + + // Check if we have a valid world + UWorld* World = GetWorld(); + if (!IsValid(World)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: No valid world during OnRegister")); + return; + } + + // Defer material creation to avoid threading issues + if (IsInGameThread()) + { + CreateAnnotationMaterial(); + } + else + { + // If not on game thread, defer to next tick + FFunctionGraphTask::CreateAndDispatchWhenReady([this]() + { + if (IsValid(this)) + { + CreateAnnotationMaterial(); + } + }, TStatId(), nullptr, ENamedThreads::GameThread); } } +// Add this new method to safely create materials +void UAnnotationComponent::CreateAnnotationMaterial() +{ + if (!IsValid(this)) + return; + + UMaterial* BaseMaterial = nullptr; + + if (this->GetFName().ToString().Contains("annotation_sphere")) + { + BaseMaterial = SphereMaterial; + } + else + { + BaseMaterial = AnnotationMaterial; + } + + if (!IsValid(BaseMaterial)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Base material is invalid")); + return; + } + + AnnotationMID = UMaterialInstanceDynamic::Create(BaseMaterial, this, TEXT("AnnotationMaterialMID")); + + if (!IsValid(AnnotationMID)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Failed to create material instance dynamic")); + return; + } + + // Set initial color + const float OneOver255 = 1.0f / 255.0f; + FLinearColor LinearAnnotationColor = FLinearColor( + this->AnnotationColor.R * OneOver255, + this->AnnotationColor.G * OneOver255, + this->AnnotationColor.B * OneOver255, + 1.0 + ); + + AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); +} + /** * Note: The "exposure compensation" in "PostProcessVolume3" in the RR map will destroy the color * Saturate the color to 1. This is a mysterious behavior after tedious debug. @@ -365,29 +568,33 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponen // This is not recommended, but I know what I am doing. } -// See https://github.com/EpicGames/UnrealEngine/blob/release/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp:417 FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent) { - UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic - + UMaterialInterface* ProxyMaterial = AnnotationMID; ERHIFeatureLevel::Type SceneFeatureLevel = GetWorld()->GetFeatureLevel(); - - // Ref: https://github.com/EpicGames/UnrealEngine/blob/4.19/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp#L415 FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); - // Only create a scene proxy for rendering if properly initialized + const USkeletalMesh* SkeletalMesh = SkeletalMeshComponent->GetSkeletalMeshAsset(); + bool bIsNaniteEnabled = false; + + if (SkeletalMesh && SkeletalMesh->IsNaniteEnabled()) + { + bIsNaniteEnabled = true; + } + if (SkelMeshRenderData && SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel()) && - SkeletalMeshComponent->MeshObject) // The risk of using MeshObject + SkeletalMeshComponent->MeshObject) { - // Only create a scene proxy if the bone count being used is supported, or if we don't have a skeleton (this is the case with destructibles) - // int32 MaxBonesPerChunk = SkelMeshResource->GetMaxBonesPerSection(); - // if (MaxBonesPerChunk <= GetFeatureLevelMaxNumberOfBones(SceneFeatureLevel)) - // { - // Result = ::new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshResource, AnnotationMID); - // } - // TODO: The SkeletalMeshComponent might need to be recreated - return new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, ProxyMaterial); + if (bIsNaniteEnabled) + { + return new FNaniteSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, AnnotationMID); + } + else + { + // Standard skeletal mesh proxy + return new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, ProxyMaterial); + } } else { @@ -396,7 +603,6 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshCompon } } - // TODO: This needs to be involked when the ParentComponent refresh its render state, otherwise it will crash the engine FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() { @@ -426,10 +632,14 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() bSkeletalMesh = true; return CreateSceneProxy(SkeletalMeshComponent); } - // else if (IsValid(CableComponent)) - // { - // return CreateSceneProxy(CableComponent); - // } + //else if (IsValid(InstancedStaticMeshComponent)) + //{ + // return CreateSceneProxy(InstancedStaticMeshComponent); + //} + //else if (IsValid(SplineComponent)) + //{ + // return CreateSceneProxy(SplineComponent); + //} else { //UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: The type of ParentMeshComponent : %s can not be supported."), *ParentComponent->GetClass()->GetName()); diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h index e220b4119..7c162ecac 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h @@ -46,6 +46,8 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent virtual void OnRegister() override; + void CreateAnnotationMaterial(); + /** Force the component to update to capture changes from the parent */ void ForceUpdate(); From a955259aa002a51c50594154e1b83e13c0583234 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Wed, 12 Nov 2025 15:19:53 +0100 Subject: [PATCH 29/70] Revert "testing for nanite skeletal meshes to work in annotation view" This reverts commit 5de88a29413f591b47eda01f20d9a87593d98ecd. --- .../Source/Annotation/AnnotationComponent.cpp | 300 +++--------------- .../Source/Annotation/AnnotationComponent.h | 2 - 2 files changed, 45 insertions(+), 257 deletions(-) diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp index 5cb86fcab..897b44d18 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp @@ -19,8 +19,6 @@ //different header files in UE #include "Runtime/Engine/Public/StaticMeshSceneProxy.h" #include "Runtime/Engine/Public/SkeletalMeshSceneProxy.h" -#include "Runtime/Engine/Public/NaniteSceneProxy.h" -#include "Runtime/Engine/Public/SkinnedMeshSceneProxyDesc.h" #endif #include "Runtime/Engine/Public/Rendering/SkeletalMeshRenderData.h" @@ -183,160 +181,6 @@ FPrimitiveViewRelevance FSkeletalAnnotationSceneProxy::GetViewRelevance(const FS } } -//class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy -//{ -//public: -// FNaniteSkeletalAnnotationSceneProxy( -// const USkinnedMeshComponent* InComponent, -// FSkeletalMeshRenderData* InRenderData, -// UMaterialInterface* AnnotationMID) -// : Nanite::FSkinnedSceneProxy(CreateMaterialAudit(InComponent, AnnotationMID), InComponent, InRenderData, true) -// { -// UE_LOG(LogTemp, Log, TEXT("AirSim Annotation: Created Nanite skeletal annotation proxy with %d material sections"), MaterialSections.Num()); -// } -// -//private: -// // Create a custom material audit that replaces all materials with the annotation material -// static Nanite::FMaterialAudit CreateMaterialAudit(const USkinnedMeshComponent * InComponent, UMaterialInterface * AnnotationMID) -// { -// // Start with a standard material audit -// Nanite::FMaterialAudit Audit; -// Nanite::AuditMaterials(InComponent, Audit, false); -// -// // Override all materials with the annotation material -// if (IsValid(AnnotationMID)) -// { -// // Check if annotation material is compatible with Nanite -// bool bValidUsage = AnnotationMID->CheckMaterialUsage_Concurrent(MATUSAGE_SkeletalMesh) && -// AnnotationMID->CheckMaterialUsage_Concurrent(MATUSAGE_Nanite); -// -// if (bValidUsage) -// { -// // Replace all materials in the audit with our annotation material -// for (int32 MaterialIndex = 0; MaterialIndex < Audit.GetNumMaterials(); ++MaterialIndex) -// { -// Audit.SetMaterial(MaterialIndex, AnnotationMID); -// } -// } -// else -// { -// UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Annotation material not compatible with Nanite skeletal mesh")); -// } -// } -// -// return Audit; -// } -// -//public: -// virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override -// { -// if (View->Family->EngineShowFlags.Materials) -// { -// // Don't render in regular views - only in annotation views -// FPrimitiveViewRelevance ViewRelevance; -// ViewRelevance.bDrawRelevance = 0; -// return ViewRelevance; -// } -// else -// { -// // Use base class view relevance for annotation rendering -// return Nanite::FSkinnedSceneProxy::GetViewRelevance(View); -// } -// } -//}; - - -class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy -{ -public: - FNaniteSkeletalAnnotationSceneProxy( - const USkinnedMeshComponent* InComponent, - FSkeletalMeshRenderData* InRenderData, - UMaterialInterface* AnnotationMID) - : Nanite::FSkinnedSceneProxy(CreateMaterialAudit(InComponent), InComponent, InRenderData, true) - , AnnotationMaterial(AnnotationMID) - { - // Override the material sections after construction - OverrideMaterialSections(); - - // Recalculate material-dependent properties - OnMaterialsUpdated(); - } - virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override; - - virtual void GetDynamicMeshElements( - const TArray& Views, - const FSceneViewFamily& ViewFamily, - uint32 VisibilityMap, - FMeshElementCollector& Collector) const; - -private: - UMaterialInterface* AnnotationMaterial; - - static Nanite::FMaterialAudit CreateMaterialAudit(const USkinnedMeshComponent* InComponent) - { - Nanite::FMaterialAudit Audit; - Nanite::AuditMaterials(InComponent, Audit, false); - return Audit; - } - - void OverrideMaterialSections() - { - if (!IsValid(AnnotationMaterial)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Invalid annotation material")); - return; - } - - // Check if annotation material is compatible with Nanite - bool bValidUsage = AnnotationMaterial->CheckMaterialUsage_Concurrent(MATUSAGE_Nanite); - - UMaterialInterface* MaterialToUse = bValidUsage ? AnnotationMaterial : UMaterial::GetDefaultMaterial(MD_Surface); - - // Override all material sections with the annotation material - for (FMaterialSection& MaterialSection : MaterialSections) - { - if (!MaterialSection.bHidden) - { - MaterialSection.ShadingMaterialProxy = MaterialToUse->GetRenderProxy(); - } - } - } -}; - -void FNaniteSkeletalAnnotationSceneProxy::GetDynamicMeshElements( - const TArray& Views, - const FSceneViewFamily& ViewFamily, - uint32 VisibilityMap, - FMeshElementCollector& Collector) const -{ - //if (LODSections.Num() > 0){ - // if (LODSections[0].SectionElements.Num() > 0) { - // if (LODSections[0].SectionElements[0].Material->GetName().Contains("AnnotationMaterialMID")) { - // FSkeletalMeshSceneProxy::GetDynamicMeshElements(Views, ViewFamily, VisibilityMap, Collector); - // } - // } - //} - Nanite::FSkinnedSceneProxy::GetDynamicMeshElements(Views, ViewFamily, VisibilityMap, Collector); -} - -FPrimitiveViewRelevance FNaniteSkeletalAnnotationSceneProxy::GetViewRelevance(const FSceneView* View) const -{ - if (View->Family->EngineShowFlags.Materials) - { - // Don't render in regular views - only in annotation views - FPrimitiveViewRelevance ViewRelevance; - ViewRelevance.bDrawRelevance = 0; - return ViewRelevance; - } - else - { - // Use base class view relevance for annotation rendering - return Nanite::FSkinnedSceneProxy::GetViewRelevance(View); - } -} - - // FString MeterialPath = TEXT("MaterialInstanceConstant'/UnrealCV/AnnotationColor_Inst.AnnotationColor_Inst'"); // static ConstructorHelpers::FObjectFinder AnnotationMaterialObject(*MaterialPath); UAnnotationComponent::UAnnotationComponent(const FObjectInitializer& ObjectInitializer) @@ -377,80 +221,33 @@ void UAnnotationComponent::OnRegister() { Super::OnRegister(); - // Safety check - don't proceed if we're in a bad state - if (!IsValid(this) || IsUnreachable() || HasAnyFlags(RF_BeginDestroyed | RF_FinishDestroyed)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Component is in invalid state during OnRegister")); - return; - } - - // Check if we have a valid world - UWorld* World = GetWorld(); - if (!IsValid(World)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: No valid world during OnRegister")); - return; - } - - // Defer material creation to avoid threading issues - if (IsInGameThread()) - { - CreateAnnotationMaterial(); - } - else - { - // If not on game thread, defer to next tick - FFunctionGraphTask::CreateAndDispatchWhenReady([this]() - { - if (IsValid(this)) - { - CreateAnnotationMaterial(); - } - }, TStatId(), nullptr, ENamedThreads::GameThread); - } -} - -// Add this new method to safely create materials -void UAnnotationComponent::CreateAnnotationMaterial() -{ - if (!IsValid(this)) - return; - - UMaterial* BaseMaterial = nullptr; - - if (this->GetFName().ToString().Contains("annotation_sphere")) - { - BaseMaterial = SphereMaterial; - } - else - { - BaseMaterial = AnnotationMaterial; - } - - if (!IsValid(BaseMaterial)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Base material is invalid")); - return; + if (this->GetFName().ToString().Contains("annotation_sphere")) { + AnnotationMID = UMaterialInstanceDynamic::Create(SphereMaterial, this, TEXT("AnnotationMaterialMID")); + if (!IsValid(AnnotationMID)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: SphereMaterial is not correctly initialized")); + return; + } + FLinearColor LinearAnnotationColor = FLinearColor(0, 0, 0, 1.0); + AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); } - - AnnotationMID = UMaterialInstanceDynamic::Create(BaseMaterial, this, TEXT("AnnotationMaterialMID")); - - if (!IsValid(AnnotationMID)) - { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Failed to create material instance dynamic")); - return; + else { + // Note: This can not be placed in the constructor, MID means material instance dynamic + AnnotationMID = UMaterialInstanceDynamic::Create(AnnotationMaterial, this, TEXT("AnnotationMaterialMID")); + if (!IsValid(AnnotationMID)) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: ColorAnnotationMaterial is not correctly initialized")); + return; + } + const float OneOver255 = 1.0f / 255.0f; + FLinearColor LinearAnnotationColor = FLinearColor( + this->AnnotationColor.R * OneOver255, + this->AnnotationColor.G * OneOver255, + this->AnnotationColor.B * OneOver255, + 1.0 + ); + AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); } - - // Set initial color - const float OneOver255 = 1.0f / 255.0f; - FLinearColor LinearAnnotationColor = FLinearColor( - this->AnnotationColor.R * OneOver255, - this->AnnotationColor.G * OneOver255, - this->AnnotationColor.B * OneOver255, - 1.0 - ); - - AnnotationMID->SetVectorParameterValue("AnnotationColor", LinearAnnotationColor); } /** @@ -568,33 +365,29 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponen // This is not recommended, but I know what I am doing. } +// See https://github.com/EpicGames/UnrealEngine/blob/release/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp:417 FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent) { - UMaterialInterface* ProxyMaterial = AnnotationMID; - ERHIFeatureLevel::Type SceneFeatureLevel = GetWorld()->GetFeatureLevel(); - FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); + UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic - const USkeletalMesh* SkeletalMesh = SkeletalMeshComponent->GetSkeletalMeshAsset(); - bool bIsNaniteEnabled = false; + ERHIFeatureLevel::Type SceneFeatureLevel = GetWorld()->GetFeatureLevel(); - if (SkeletalMesh && SkeletalMesh->IsNaniteEnabled()) - { - bIsNaniteEnabled = true; - } + // Ref: https://github.com/EpicGames/UnrealEngine/blob/4.19/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp#L415 + FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); + // Only create a scene proxy for rendering if properly initialized if (SkelMeshRenderData && SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel()) && - SkeletalMeshComponent->MeshObject) + SkeletalMeshComponent->MeshObject) // The risk of using MeshObject { - if (bIsNaniteEnabled) - { - return new FNaniteSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, AnnotationMID); - } - else - { - // Standard skeletal mesh proxy - return new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, ProxyMaterial); - } + // Only create a scene proxy if the bone count being used is supported, or if we don't have a skeleton (this is the case with destructibles) + // int32 MaxBonesPerChunk = SkelMeshResource->GetMaxBonesPerSection(); + // if (MaxBonesPerChunk <= GetFeatureLevelMaxNumberOfBones(SceneFeatureLevel)) + // { + // Result = ::new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshResource, AnnotationMID); + // } + // TODO: The SkeletalMeshComponent might need to be recreated + return new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, ProxyMaterial); } else { @@ -603,6 +396,7 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshCompon } } + // TODO: This needs to be involked when the ParentComponent refresh its render state, otherwise it will crash the engine FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() { @@ -632,14 +426,10 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() bSkeletalMesh = true; return CreateSceneProxy(SkeletalMeshComponent); } - //else if (IsValid(InstancedStaticMeshComponent)) - //{ - // return CreateSceneProxy(InstancedStaticMeshComponent); - //} - //else if (IsValid(SplineComponent)) - //{ - // return CreateSceneProxy(SplineComponent); - //} + // else if (IsValid(CableComponent)) + // { + // return CreateSceneProxy(CableComponent); + // } else { //UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: The type of ParentMeshComponent : %s can not be supported."), *ParentComponent->GetClass()->GetName()); diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h index 7c162ecac..e220b4119 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h @@ -46,8 +46,6 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent virtual void OnRegister() override; - void CreateAnnotationMaterial(); - /** Force the component to update to capture changes from the parent */ void ForceUpdate(); From ac2c1af01eaee92433651373a9a98391b1477947 Mon Sep 17 00:00:00 2001 From: "Wouter J." Date: Wed, 14 Jan 2026 14:58:43 +0100 Subject: [PATCH 30/70] Update publication reference in README Added keywords and DOI to the publication reference. --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index e42568b66..c4423c5cf 100644 --- a/README.md +++ b/README.md @@ -26,7 +26,8 @@ Unreal [5.2.1](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.2.1) is also ava volume={}, number={}, pages={37-48}, - doi={}} + keywords={Industries;Simultaneous localization and mapping;Machine learning algorithms;Atmospheric modeling;Transfer learning;Sensor systems and applications;Real-time systems;sensors;procedural generation;digital twins;transfer learning;open-source}, + doi={https://doi.org/10.48550/arXiv.2303.13381}} ``` You can also find the presentation of the live tutorial of Cosys-AirSim at ANNSIM '23 conference [here](https://github.com/Cosys-Lab/Cosys-AirSim/tree/main/docs/annsim23_tutorial) together with the associated videos. From 0acf5a7783ed4e98aeee4d5d0aed9e675911aada Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Mon, 16 Mar 2026 11:34:16 +0100 Subject: [PATCH 31/70] WIP nanite skeletal mesh support for annotation --- .../HUDAssets/AnnotationMaterial.uasset | Bin 13954 -> 13865 bytes .../Source/Annotation/AnnotationComponent.cpp | 314 ++++++++++++++---- .../Source/Annotation/AnnotationComponent.h | 27 ++ .../Source/Annotation/ObjectAnnotator.cpp | 15 +- Unreal/Plugins/AirSim/Source/PIPCamera.cpp | 7 +- .../AirSim/Source/SimMode/SimModeBase.cpp | 10 +- 6 files changed, 299 insertions(+), 74 deletions(-) diff --git a/Unreal/Plugins/AirSim/Content/HUDAssets/AnnotationMaterial.uasset b/Unreal/Plugins/AirSim/Content/HUDAssets/AnnotationMaterial.uasset index 00b9e5afd409b3837274e9d039a31679e405127b..c8da484361396de3f4d7fb319b5b080e8e282490 100644 GIT binary patch delta 5737 zcma)93sh4_8lDRT3<3p1KnTz9Faaf?yu=3}CPE~T@X!|9VuV|Xh9r_;5g&=QqO}Ez z!)~oqK~&K0dg?BzQXk#A-S$*hx}a!x(VneGYl~WFyVO?Hx-&NuUJ_x>x%Z!$|C|5u z{d4Eu`&#KywfNk&i2c7ldGchXJpj&j01P6D+lkhrAFr!wxZHPQ&f~|TFpi`4R*#Mk zz!aoweDk+ykEG>0UH-GFMR+zTF{WQAZJx9=&W?+Z?x{CGp1YM$2u zr1+ua_^sYW^#fCTVwzJ=OQHmz?qiYL5v1`#J}D%Nn@KdxK|Sdz%Ox@IqMy<`25s-%nam+67;hVv`Dh(@9+(;MV;nO>{OE;s1P4dCA) zd!|h%TA9*7m#LKMG-Xir1@kN|nZtM^_li z%V=OY1Wx;6E!-IB0}t4ne68Uv*OsY^Gt&T1;Yyj>K$9FM_<|<2dYI-PK#um7E zS`-e|4%3YcBwtS#FIO2#a@V5T7?f%miXQ|G3~K#x6iBO=X>oYV=puu*jEOk=l~?q% z0sQihp5uO2P##^X)0QdKIkaA<)#y=_8WbTo8(8-i6W#^`Jrv&UtXZEp0|4K1*bUQI zy#Y85v0PO_s~6KcLy5(_Oj}HYH*a6w**4Sh0VTndjiMw^xmpiWKI?uzWUMBCS(;W` zR;<#XBIm`Sfz7Ht53xSlYGD?M(sK?Qw6=sGnq9~Ur(euXZhHAT2u$b|-N zCX~@|<p-%xw)K#tT4z~T(^$=C} ziLkBVIRWK91&69ETB}@51O1YnT=>Y{mlD8r5gf;2qynJs;S3{wXmM*|?g0FTo~fmz zUq~bt?OV8_58l%vbRZHBC5L z76jks@T0yYQ;)|i!#v}-aN!S;f-R1Qb&)jZqk0Lg3%WFz_{=(curr zz%l7o_)7#XpTod=5PWb99CL4lrxW7J>Qt$wu12;yn9nfHJ+fuJh zc5V^zcS>QS0<_%`1`k~I_-9|g0<38 zPw>$~bG;&kprpuDE(!(nbgZTIMsn*v@pSzIQ zP$s zbWcysYMOFn0jfMK8EBd!IIOJV?}l6bqF}8bE9kI)iJdOGDW`j5?J-_8$PlCI=G3Gf zx%28v7sRP4EZF5I;LpEPlbW%8{hV8r^$Cije zMtkMu^w3+mYY=y!qxDjC%b{kIuUpr)rR}*Zj>Vh&&aF5m$-94hUsjfxa^=no(lqZ` zwV)a-5esvYc1f9yhBup_*~CV>RaaP`19JOC9AnRZ_nPioy@>1kjZ($W`&9#1dsC*i zS9Y~mb{pjO=N(q&u5Xlj_vh7vjuxmII4VF@L53p44?pxrkRbUy=>rF*gPh`T8{D39gg@AD8>;|n%ls$`;)W<#OSIdF z97(}q_?Ov!F+HBCvZepDPk(n+KdH|F}V!^g1eN586 ztL3D#L^a7ZaO$i{#{_kg#(Ip%b0?u`e@7)3Ht4|$;sQuGuA!% znG}u6J%TJBS;`Fjc>?dpy2snx365l$ZL*$^b7v1_3fIMX&bFCa6C!2Y)NmY$idv6P X+h1DryV%I8a#bamwnP7wj*_|)s&CL7FoA-Wi zuFz7rxyb$e7RiA-4bF;I#U`;GJcS*w1vWtb z8kdEPg0Qd!DY0SMszOzMxhf(yQp)H7SSYj2O8y=orne11W>YQ;j0PMwiotkJ2!M~Qylz>9Wo(RjohO?gRS{&H23s#pg$ zeX`;+SY_XTY^%c`6y*!GuJo}U$N4Ncms8}0=mS}r3RU48Rf$fWxpHN>N(a90TwMTv z;r!`XxpNWgZ@ebThmT+jwPl4Xvb5zIokm+skOS|2{@_@Xi-O8=M2K{iE`LtGE+71? zZ-s1ZIe+;J`Kwf*JZ&3|ohI!O-2U(;l@sdEQB~+xm#JdrfCu+w?Wlt(ez2W(qiad) zHX`sZq@MGb<`&W(~rJW_mB~I zm!K8HlpG?lc!2uNnqUWM;C1s3vzq|8;SVXXH)PYI$bF>izS%Im%y*JuI76rLSXAB& zW`=RYIq;u+9^4qpiEJgRd!vS9meBSEIG;_}9xAy}b>ZHymmV1ndG2hu&7J3tnZqEA zRulBY=+S6BLf=7X%%%ywgrHYV8;$;tJ3Hi$QC?xTO(W-$k^hj69+~IChJ2dm{suzh zg5xl)6iys`z;}mtQ22xbHf9JH_}WxYsQ2)vhTva4eBikdwk?`|@3BujHn6zjnyxk* zbwf3%ym?5egqhy4RdYXFqj#?s8SJMoE}C(&Qw>QC zLw|v%h)?;_A?>N{{W6#K6h6p#^>#sg?TdpTf}fpblY1mJx8s$f&$ie1z3N+Ip9nycik!Eu%p%Xw6=wWxc65u9QtW(N%c)#NcdU z7d9cDR<=)AnR6;7DLeJjjvr)`KmATK-Md^D>kDR>Y`wuTSl)W zwCKx0_`XmA|1ER~WaWJer9B1veAdKGN?!0Qy@<+afBy*66r;~3F=-+bVoJVz2{!QA!YFJR($|e2*c1& zjvIBQV>ed)*Euh}67M^nN$ z(foRN-Y42$ks=xpu}Y%A!Na%x7EkvEbtw1jgFagnUDr<4S8s;z`-Z`Dz7Bz9+?zcW zo_x@%NHK-Z?JbD&oN-mt_2VhXr=07A;qiQhjGNN?-NnfB=}B8qLe^BrRj=k#G=H$U zrdcn@o_eWyP-+P{AmE2SepSla>B7n^ zkM5?7Rxq$wWU$qqL`&ps|KVRjL$!#N{&9EB$K8z$`rzIKO_OVx_=CXvJz!;LYG<}W z=Ikdrf3R14qT<&ecsPhnhWiEJyRmbGA3sF?#^-11Hfz zum{M+=QnC(EPWL(Afe@l=$?IN#9frIvtK?7t+p3*20NU@go1bx_4DQ^@u_sl{eg`j zt@Up9;H>()B9;UjLTOAx92xA8qf|}z-VC%0fcOHcpjhrAgm<5=Q<6ITfiDPY?@w)? zhjQ_+W%4D}GnI!8wt&0&^}dSmu3dtSKgk?Z_*phzAB^9#U)%+hxu}9RQa$2KGSni8 zy^@_pA%FwS^Ox8sqj$zn{>OIue?fWUgLAXJ@jPOVA`j*i0YCsNLV{r5G&^5}W=fGs zLnMZW!RulV2BjdqS|Zn)q0$-DRfG#Njh_^_Fr(s)b>^GLC5_ScfQ~54LzoFE+6^XzI7av7zPjl5)7O%> zeA{PtXSn6k^8{@=fH5s&M^**<=86dN86vS@{KO3CaSN3(L124Tj0ym2b7U|CbEh~u zstGa%`cL62Um>kAMsfc}qEr%z1-|-#={|oEH&8K;ri9^P&lG2|DPK#CAdo~P4rUFh zW8nqcrlin`q{rOW2&XRf1=F^F8Kj=`{xg!Icb3nM$$_Pzo;1h87$GbT3r6n|MWmmX zUaxrW_a=mMnUJl@h>6YFH!+;EX>Ct5=9Wk@KP=?4tt29dUWd)0VmVQM&Q4zkJr!w$ zfVD6$*aO}ZbG(`JBbs!ZA9T+^{nX%*<0jVv!hE7!oXx6lFbeON83b;AA~DA8kRn4{ ztOBMx!QvTdI^_OGGp6&}cnhJK{!cr^`7vfp=7`=HDsB)a?3v#eQJ4yDFzRNT5}gC9 zq69SgwPZq%24iY)VZiXWsK+zSScQUUe6~?yL1u~(Joe(sLyA;u$|$73|B%4NJbfc~ z0z4Yc%S$!_z?d5oUy6^Bu!JDTTxJ`HVk(iACz~0=3$YqV7CO5|0)eG5eA>F_M`FA} z#`QXo_^}3FjY)iNGHH1cX%f7N1!p?2#tm*twP4|*!rxSyNa^&v&bw0A~Bf} z%pr)LdsUlB?|LG~a6g3Tu+A0w;XlF^v491$gz>L=i_{Syb_8;0HhyP8os^e2E|ZT@ z6hKUvr&nfrv%x+oFV5-;aUes-C2`psPIbb4=~rp%tul}|9s>r%oka#l eTs CVarAirSimAnnotationNaniteSkeletal( + TEXT("airsim.annotation.nanite.skeletal"), + 1, + TEXT("Enable Nanite skeletal mesh annotation support (default: 1)") +); + /** A proxy class to get mesh data from StaticMesh, should be used together with AnnotationCamSensor. Inheritance is needed because I need to access protected data Use `show Material` command to see the effect of this component @@ -75,8 +82,6 @@ FPrimitiveViewRelevance FStaticAnnotationSceneProxy::GetViewRelevance(const FSce { FPrimitiveViewRelevance ViewRelevance; ViewRelevance.bDrawRelevance = 0; - // This will make the AnnotationComponent gets ignored if the Materials flag is on - // Which means it won't affect regulary rendering. return ViewRelevance; } else @@ -120,9 +125,7 @@ class FSkeletalAnnotationSceneProxy : public FSkeletalMeshSceneProxy FSkeletalAnnotationSceneProxy(const USkinnedMeshComponent* Component, FSkeletalMeshRenderData* InSkeletalMeshRenderData, UMaterialInterface* AnnotationMID) : FSkeletalMeshSceneProxy(Component, InSkeletalMeshRenderData) { - // TODO: Update MaterialRelevance this->bVerifyUsedMaterials = false; - // this->bCastShadow = false; this->bCastDynamicShadow = false; for(int32 LODIdx=0; LODIdx < LODSections.Num(); LODIdx++) { @@ -149,6 +152,78 @@ class FSkeletalAnnotationSceneProxy : public FSkeletalMeshSceneProxy FMeshElementCollector& Collector) const; }; +// Custom Nanite skeletal annotation proxy that uses Nanite rendering pipeline +// but overrides material rendering to apply annotation colors +class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy +{ +public: + FNaniteSkeletalAnnotationSceneProxy( + const USkinnedMeshComponent* Component, + FSkeletalMeshRenderData* InRenderData, + UMaterialInterface* AnnotationMID + ) + : Nanite::FSkinnedSceneProxy(CreateNaniteMaterialAudit(Component), Component, InRenderData, true) + , AnnotationMaterial(AnnotationMID) + { + + if (!IsValid(AnnotationMID)) + { + UE_LOG(LogTemp, Warning, TEXT("Airsim Annotation: Nanite skeletal annotation material is invalid")); + return; + } + + FMaterialRenderProxy* AnnotationRenderProxy = AnnotationMID->GetRenderProxy(); + const FMaterialRelevance AnnotationRelevance = AnnotationMID->GetRelevance_Concurrent(GetScene().GetShaderPlatform()); + int32 UpdatedSectionCount = 0; + for (Nanite::FSceneProxyBase::FMaterialSection& MaterialSection : GetMaterialSections()) + { + MaterialSection.ShadingMaterialProxy = AnnotationRenderProxy; + MaterialSection.RasterMaterialProxy = AnnotationRenderProxy; + MaterialSection.MaterialRelevance = AnnotationRelevance; + MaterialSection.LocalUVDensities = FVector4f(1.0f); + MaterialSection.bHasPerInstanceRandomID = false; + MaterialSection.bHasPerInstanceCustomData = false; + ++UpdatedSectionCount; + } + + OnMaterialsUpdated(true); + UE_LOG(LogTemp, VeryVerbose, TEXT("Airsim Annotation: Nanite skeletal proxy remapped %d material sections to %s"), UpdatedSectionCount, *AnnotationMID->GetName()); + } + + virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override + { + // Hide from main pass (regular scene/lighting cameras) - only show in annotation scene captures + if (View->Family->EngineShowFlags.Materials) + { + FPrimitiveViewRelevance ViewRelevance; + ViewRelevance.bDrawRelevance = 0; + return ViewRelevance; + } + + // Show in annotation passes (where Materials flag is OFF) + FPrimitiveViewRelevance ViewRelevance = Nanite::FSkinnedSceneProxy::GetViewRelevance(View); + // Ensure it's marked as relevant for rendering in annotation-only context + ViewRelevance.bDrawRelevance = 1; + return ViewRelevance; + } + +private: + static Nanite::FMaterialAudit CreateNaniteMaterialAudit(const USkinnedMeshComponent* Component) + { + Nanite::FMaterialAudit Audit; + if (Component) + { + Nanite::AuditMaterials(Component, Audit, false); + } + + UE_LOG(LogTemp, VeryVerbose, TEXT("Airsim Annotation: Created Nanite material audit with %d entries"), Audit.Entries.Num()); + + return Audit; + } + + UMaterialInterface* AnnotationMaterial; +}; + void FSkeletalAnnotationSceneProxy::GetDynamicMeshElements( const TArray& Views, @@ -172,7 +247,7 @@ FPrimitiveViewRelevance FSkeletalAnnotationSceneProxy::GetViewRelevance(const FS if (View->Family->EngineShowFlags.Materials) { FPrimitiveViewRelevance ViewRelevance; - ViewRelevance.bDrawRelevance = 0; // This will make it gets ignored, when materials flag is enabled. + ViewRelevance.bDrawRelevance = 0; return ViewRelevance; } else @@ -182,13 +257,15 @@ FPrimitiveViewRelevance FSkeletalAnnotationSceneProxy::GetViewRelevance(const FS } // FString MeterialPath = TEXT("MaterialInstanceConstant'/UnrealCV/AnnotationColor_Inst.AnnotationColor_Inst'"); -// static ConstructorHelpers::FObjectFinder AnnotationMaterialObject(*MaterialPath); UAnnotationComponent::UAnnotationComponent(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer) // , ParentMeshInfo(nullptr) { bSkeletalMesh = false; bTexture = false; + // Initialize from console variable - can be overridden per-component with SetEnableNaniteSkeletalAnnotationPath() + bEnableNaniteSkeletalAnnotationPath = CVarAirSimAnnotationNaniteSkeletal.GetValueOnGameThread() != 0; + last_foliage_type_ = EFoliageComponentType::None; FString MaterialPath = TEXT("Material'/AirSim/HUDAssets/AnnotationMaterial.AnnotationMaterial'"); static ConstructorHelpers::FObjectFinder AnnotationMaterialObject(*MaterialPath); @@ -344,98 +421,216 @@ FString UAnnotationComponent::GetAnnotationTexturePath() return AnnotationTexturePath; } +UAnnotationComponent::EFoliageComponentType UAnnotationComponent::GetLastDetectedFoliageType() const +{ + return last_foliage_type_; +} + +void UAnnotationComponent::SetEnableNaniteSkeletalAnnotationPath(bool bEnable) +{ + bEnableNaniteSkeletalAnnotationPath = bEnable; +} + +bool UAnnotationComponent::IsNaniteSkeletalAnnotationPathEnabled() const +{ + return bEnableNaniteSkeletalAnnotationPath; +} + +UAnnotationComponent::EFoliageComponentType UAnnotationComponent::ClassifyFoliageType(const USceneComponent* Component) +{ + const UMeshComponent* MeshComponent = Cast(Component); + if (!IsValid(MeshComponent)) + { + return EFoliageComponentType::None; + } + + const FString ClassName = MeshComponent->GetClass()->GetName().ToLower(); + const FString ComponentName = MeshComponent->GetName().ToLower(); + const AActor* Owner = MeshComponent->GetOwner(); + const FString OwnerName = Owner ? Owner->GetName().ToLower() : TEXT(""); + const FString OwnerClassName = Owner ? Owner->GetClass()->GetName().ToLower() : TEXT(""); + + const bool bFoliageLike = + ClassName.Contains(TEXT("foliage")) || + ClassName.Contains(TEXT("vegetation")) || + ComponentName.Contains(TEXT("foliage")) || + ComponentName.Contains(TEXT("vegetation")) || + OwnerName.Contains(TEXT("foliage")) || + OwnerName.Contains(TEXT("vegetation")) || + OwnerClassName.Contains(TEXT("foliage")) || + OwnerClassName.Contains(TEXT("vegetation")); + + if (!bFoliageLike) + { + return EFoliageComponentType::None; + } + + if (Cast(MeshComponent)) + { + return EFoliageComponentType::StaticFoliage; + } + + if (Cast(MeshComponent)) + { + return EFoliageComponentType::SkeletalFoliage; + } + + const bool bInstancedSkeletalLike = + ClassName.Contains(TEXT("instancedskeletal")) || + ClassName.Contains(TEXT("instancedskinned")) || + ClassName.Contains(TEXT("instanced")) && (ClassName.Contains(TEXT("skeletal")) || ClassName.Contains(TEXT("skinned"))) || + ComponentName.Contains(TEXT("instancedskeletal")) || + ComponentName.Contains(TEXT("instancedskinned")); + + if (bInstancedSkeletalLike) + { + return EFoliageComponentType::InstancedSkeletalFoliage; + } + + return EFoliageComponentType::None; +} + +bool UAnnotationComponent::IsNaniteSkeletalMesh(const USkeletalMeshComponent* SkeletalMeshComponent) +{ + if (!IsValid(SkeletalMeshComponent)) + { + return false; + } + + const USkeletalMesh* SkeletalMeshAsset = SkeletalMeshComponent->GetSkeletalMeshAsset(); + return SkeletalMeshAsset && SkeletalMeshAsset->IsNaniteEnabled(); +} + FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponent* StaticMeshComponent) { - // FPrimitiveSceneProxy* PrimitiveSceneProxy = StaticMeshComponent->CreateSceneProxy(); - // FStaticMeshSceneProxy* StaticMeshSceneProxy = (FStaticMeshSceneProxy*)PrimitiveSceneProxy; UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic UStaticMesh* ParentStaticMesh = StaticMeshComponent->GetStaticMesh(); - if(ParentStaticMesh == NULL + if (ParentStaticMesh == NULL || ParentStaticMesh->GetRenderData() == NULL || ParentStaticMesh->GetRenderData()->LODResources.Num() == 0) - // || StaticMesh->RenderData->LODResources[0].VertexBuffer.GetNumVertices() == 0) { - // UE_LOG(LogTemp, Warning, TEXT("%s, ParentStaticMesh is invalid."), *StaticMeshComponent->GetName()); return NULL; } - // FPrimitiveSceneProxy* Proxy = ::new FStaticMeshSceneProxy(OwnerComponent, false); + FPrimitiveSceneProxy* Proxy = ::new FStaticAnnotationSceneProxy(StaticMeshComponent, false, ProxyMaterial); return Proxy; - // This is not recommended, but I know what I am doing. } -// See https://github.com/EpicGames/UnrealEngine/blob/release/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp:417 FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent) { - UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic + if (IsNaniteSkeletalMesh(SkeletalMeshComponent)) + { + + if (!bEnableNaniteSkeletalAnnotationPath) + { + static TSet LoggedNaniteSkeletalMeshes; + if (!LoggedNaniteSkeletalMeshes.Contains(SkeletalMeshComponent->GetName())) + { + LoggedNaniteSkeletalMeshes.Add(SkeletalMeshComponent->GetName()); + UE_LOG(LogTemp, Log, TEXT("AirSim Annotation: Skipping Nanite skeletal mesh %s - Nanite skeletal annotation path is disabled."), *SkeletalMeshComponent->GetName()); + } + return nullptr; + } - ERHIFeatureLevel::Type SceneFeatureLevel = GetWorld()->GetFeatureLevel(); + return CreateSceneProxyNaniteSkeletal(SkeletalMeshComponent); + } - // Ref: https://github.com/EpicGames/UnrealEngine/blob/4.19/Engine/Source/Runtime/Engine/Private/Components/SkinnedMeshComponent.cpp#L415 + UMaterialInterface* ProxyMaterial = AnnotationMID; FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); - // Only create a scene proxy for rendering if properly initialized - if (SkelMeshRenderData && - SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel()) && - SkeletalMeshComponent->MeshObject) // The risk of using MeshObject - { - // Only create a scene proxy if the bone count being used is supported, or if we don't have a skeleton (this is the case with destructibles) - // int32 MaxBonesPerChunk = SkelMeshResource->GetMaxBonesPerSection(); - // if (MaxBonesPerChunk <= GetFeatureLevelMaxNumberOfBones(SceneFeatureLevel)) - // { - // Result = ::new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshResource, AnnotationMID); - // } - // TODO: The SkeletalMeshComponent might need to be recreated + if (SkelMeshRenderData + && SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel()) + && SkeletalMeshComponent->MeshObject) + { return new FSkeletalAnnotationSceneProxy(SkeletalMeshComponent, SkelMeshRenderData, ProxyMaterial); } - else + + return nullptr; +} + +FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxyNaniteSkeletal(USkeletalMeshComponent* SkeletalMeshComponent) +{ + if (!IsValid(SkeletalMeshComponent)) + { + UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: SkeletalMeshComponent is invalid")); + return nullptr; + } + + + const USkeletalMesh* SkeletalMeshAsset = SkeletalMeshComponent->GetSkeletalMeshAsset(); + if (!SkeletalMeshAsset || !SkeletalMeshAsset->IsNaniteEnabled()) + { + UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: SkeletalMeshComponent %s does not have valid Nanite skeletal mesh."), *SkeletalMeshComponent->GetName()); + return nullptr; + } + + + FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); + if (!SkelMeshRenderData || !SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel())) { - UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: The data of SkeletalMeshComponent %s is invalid."), *SkeletalMeshComponent->GetName()); + UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: Nanite skeletal mesh %s has invalid render data. RenderData=%p, LOD=%d, MaxLOD=%d"), + *SkeletalMeshComponent->GetName(), + SkelMeshRenderData, + SkeletalMeshComponent->GetPredictedLODLevel(), + SkelMeshRenderData ? SkelMeshRenderData->LODRenderData.Num() : -1); return nullptr; } + + UMaterialInterface* ProxyMaterial = AnnotationMID; + if (!IsValid(ProxyMaterial)) + { + UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: Annotation material instance is invalid for Nanite skeletal mesh %s"), + *SkeletalMeshComponent->GetName()); + return nullptr; + } + + FPrimitiveSceneProxy* Proxy = ::new FNaniteSkeletalAnnotationSceneProxy( + SkeletalMeshComponent, + SkelMeshRenderData, + ProxyMaterial + ); + + static TSet LoggedNaniteEnabled; + if (!LoggedNaniteEnabled.Contains(SkeletalMeshComponent->GetName())) + { + LoggedNaniteEnabled.Add(SkeletalMeshComponent->GetName()); + UE_LOG(LogTemp, Log, TEXT("Airsim Annotation: Nanite skeletal annotation proxy enabled for %s"), *SkeletalMeshComponent->GetName()); + } + + return Proxy; } -// TODO: This needs to be involked when the ParentComponent refresh its render state, otherwise it will crash the engine FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() { - // UMaterialInstanceDynamic* AnnotationMID = UMaterialInstanceDynamic::Create(AnnotationMaterial, this); - // FColor AnnotationColor = FColor::MakeRandomColor(); - // AnnotationMID->SetVectorParameterByIndex(0, AnnotationColor); - USceneComponent* ParentComponent = this->GetAttachParent(); - // USceneComponent* ParentComponent = this->ParentMeshInfo->GetParentMeshComponent(); - if (!IsValid(ParentComponent)) { UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Parent component is invalid.")); return nullptr; } + last_foliage_type_ = ClassifyFoliageType(ParentComponent); UStaticMeshComponent* StaticMeshComponent = Cast(ParentComponent); USkeletalMeshComponent* SkeletalMeshComponent = Cast(ParentComponent); - // UCableComponent* CableComponent = Cast(ParentComponent); + if (IsValid(StaticMeshComponent)) { + bSkeletalMesh = false; return CreateSceneProxy(StaticMeshComponent); } else if (IsValid(SkeletalMeshComponent)) { - bSkeletalMesh = true; - return CreateSceneProxy(SkeletalMeshComponent); + FPrimitiveSceneProxy* Proxy = CreateSceneProxy(SkeletalMeshComponent); + bSkeletalMesh = (Proxy != nullptr); + return Proxy; } - // else if (IsValid(CableComponent)) - // { - // return CreateSceneProxy(CableComponent); - // } else { - //UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: The type of ParentMeshComponent : %s can not be supported."), *ParentComponent->GetClass()->GetName()); return nullptr; } - // return nullptr; } FBoxSphereBounds UAnnotationComponent::CalcBounds(const FTransform & LocalToWorld) const @@ -458,10 +653,10 @@ FBoxSphereBounds UAnnotationComponent::CalcBounds(const FTransform & LocalToWorl return StaticMeshComponent->CalcBounds(LocalToWorld); } - USkeletalMeshComponent* SkeletalMeshComponent = Cast(Parent); - if (IsValid(SkeletalMeshComponent)) + USkeletalMeshComponent* SkinnedMeshComponent = Cast(Parent); + if (IsValid(SkinnedMeshComponent)) { - return SkeletalMeshComponent->CalcBounds(LocalToWorld); + return SkinnedMeshComponent->CalcBounds(LocalToWorld); } FBoxSphereBounds DefaultBounds; @@ -481,17 +676,13 @@ void UAnnotationComponent::TickComponent( if (bSkeletalMesh) { - MarkRenderStateDirty(); // Without it will break the SkeletalMeshComponent - } - /* - // if (ParentMeshInfo->RequiresUpdate()) - // TODO: This sometimes miss a required update, see OWIMap. Not sure why. - // TODO: Per-frame update is certainly wasted. - { - // FIXME: Update the render proxy per frame will cause jittering on the material. - ParentMeshInfo = MakeShareable(new FParentMeshInfo(this->GetAttachParent())); + USceneComponent* ParentComponent = this->GetAttachParent(); + USkeletalMeshComponent* SkeletalMeshComponent = Cast(ParentComponent); + if (SkeletalMeshComponent && !IsNaniteSkeletalMesh(SkeletalMeshComponent)) + { + MarkRenderStateDirty(); + } } - */ } @@ -499,3 +690,4 @@ void UAnnotationComponent::ForceUpdate() { this->MarkRenderStateDirty(); } + diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h index e220b4119..c914c71f2 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h @@ -9,6 +9,13 @@ #include "Runtime/Engine/Classes/Components/StaticMeshComponent.h" #include "Runtime/Engine/Public/SkeletalRenderPublic.h" +#if ENGINE_MAJOR_VERSION >= 5 +// different header files in UE +#include "Runtime/Engine/Public/StaticMeshSceneProxy.h" +#include "Runtime/Engine/Public/SkeletalMeshSceneProxy.h" +#include "Runtime/Engine/Public/NaniteSceneProxy.h" +#endif + #include "AnnotationComponent.generated.h" @@ -49,6 +56,21 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent /** Force the component to update to capture changes from the parent */ void ForceUpdate(); + void SetEnableNaniteSkeletalAnnotationPath(bool bEnable); + bool IsNaniteSkeletalAnnotationPathEnabled() const; + +public: + // Simple classification for foliage-related mesh components. + enum class EFoliageComponentType : uint8 + { + None = 0, + StaticFoliage, + SkeletalFoliage, + InstancedSkeletalFoliage + }; + + EFoliageComponentType GetLastDetectedFoliageType() const; + private: // FParentMeshInfo ParentMeshInfo; // TSharedPtr ParentMeshInfo; @@ -65,7 +87,12 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent bool bSkeletalMesh; // indicate whether this is for a SkeletalMesh bool bTexture; // indicate if this is a texture annotation component + bool bEnableNaniteSkeletalAnnotationPath; + EFoliageComponentType last_foliage_type_; + static EFoliageComponentType ClassifyFoliageType(const USceneComponent* Component); + static bool IsNaniteSkeletalMesh(const USkeletalMeshComponent* SkeletalMeshComponent); FPrimitiveSceneProxy* CreateSceneProxy(UStaticMeshComponent* StaticMeshComponent); FPrimitiveSceneProxy* CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent); + FPrimitiveSceneProxy* CreateSceneProxyNaniteSkeletal(USkeletalMeshComponent* SkeletalMeshComponent); }; diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index f3707c8ee..373c683a4 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -977,22 +977,18 @@ void FObjectAnnotator::InitializeTexture(ULevel* InLevel) FString tag = found_tag->ToString(); TArray splitTag; tag.ParseIntoArray(splitTag, TEXT("_"), true); - name_to_component_map_.Emplace(it.Key(), it.Value()); - component_to_name_map_.Emplace(it.Value(), it.Key()); - + FString new_texture; if (set_direct_) { new_texture = splitTag[1]; - } - else { + } else { FString component_name; if (UStaticMeshComponent* staticmesh_component = Cast(it.Value())) { if (staticmesh_component->GetStaticMesh() != nullptr) { component_name = staticmesh_component->GetStaticMesh()->GetName(); } - } - else if (USkinnedMeshComponent* skinnedmesh_component = Cast(it.Value())) { + } else if (USkinnedMeshComponent* skinnedmesh_component = Cast(it.Value())) { if (skinnedmesh_component->GetSkinnedAsset() != nullptr) { component_name = skinnedmesh_component->GetSkinnedAsset()->GetName(); } @@ -1003,6 +999,7 @@ void FObjectAnnotator::InitializeTexture(ULevel* InLevel) check(PaintTextureComponent(it.Value(), new_texture, it.Key())); if (set_direct_) { //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); + } else { //UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Added new texture annotated object %s with texture: %s"), *name_, *it.Key(), *new_texture); @@ -1207,6 +1204,10 @@ void FObjectAnnotator::UpdateAnnotationComponents(UWorld* World) } TArray> FObjectAnnotator::GetAnnotationComponents() { + annotation_component_list_.RemoveAll([](const TWeakObjectPtr& Component) + { + return !Component.IsValid(); + }); return annotation_component_list_; } diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp index e7ae455a8..e6064674c 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp @@ -548,13 +548,16 @@ void APIPCamera::updateInstanceSegmentationAnnotation(TArray >& ComponentList, FString annotation_name, bool only_hide) { + if (!annotator_name_to_index_map_.Contains(annotation_name)) + { + return; + } if (!only_hide) { captures_[annotator_name_to_index_map_[annotation_name]]->ShowOnlyComponents = ComponentList; if (sphere_annotation_component_map_.Contains(annotation_name)) captures_[annotator_name_to_index_map_[annotation_name]]->ShowOnlyComponents.Add(sphere_annotation_component_map_[annotation_name]); - } + } APlayerController* controller = this->GetWorld()->GetFirstPlayerController(); - for (TWeakObjectPtr component : ComponentList) { captures_[Utils::toNumeric(ImageType::Scene)]->HiddenComponents.AddUnique(component); captures_[Utils::toNumeric(ImageType::Lighting)]->HiddenComponents.AddUnique(component); diff --git a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp index 1869ef94f..2dea003e5 100755 --- a/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp +++ b/Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp @@ -1247,6 +1247,7 @@ void ASimModeBase::ForceUpdateAnnotation(FString annotation_name) { } void ASimModeBase::updateInstanceSegmentationAnnotation() { + instance_segmentation_annotator_.UpdateAnnotationComponents(this->GetWorld()); TArray> current_segmentation_components = instance_segmentation_annotator_.GetAnnotationComponents(); TArray cameras_found; @@ -1287,6 +1288,7 @@ void ASimModeBase::updateAnnotation(FString annotation_name) { UE_LOG(LogTemp, Log, TEXT("AirSim Annotation [%s]: Could not find annotation layer %s"), *annotation_name, *annotation_name); } else { + annotators_[annotation_name].UpdateAnnotationComponents(this->GetWorld()); TArray> current_annotation_components = annotators_[annotation_name].GetAnnotationComponents(); TArray cameras_found; UAirBlueprintLib::RunCommandOnGameThread([this, &cameras_found]() { @@ -1313,13 +1315,13 @@ void ASimModeBase::updateAnnotation(FString annotation_name) { } if (CameraDirector != nullptr) { if (CameraDirector->getFpvCamera() != nullptr) - CameraDirector->getFpvCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); + CameraDirector->getFpvCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); if (CameraDirector->getExternalCamera() != nullptr) - CameraDirector->getExternalCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); + CameraDirector->getExternalCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); if (CameraDirector->getBackupCamera() != nullptr) - CameraDirector->getBackupCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); + CameraDirector->getBackupCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); if (CameraDirector->getFrontCamera() != nullptr) - CameraDirector->getFrontCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); + CameraDirector->getFrontCamera()->updateInstanceSegmentationAnnotation(current_annotation_components, true); } } } From b7f3ace13e46d085bfee0f88ce2d81b6fc8752f1 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Wed, 18 Mar 2026 09:23:12 +0100 Subject: [PATCH 32/70] annotation camera naninte sketelal mesh WIP --- .../Content/Blueprints/BP_PIPCamera.uasset | Bin 41919 -> 41968 bytes .../Source/Annotation/AnnotationComponent.cpp | 193 +++++++----------- .../Source/Annotation/AnnotationComponent.h | 4 - .../Source/Annotation/ObjectAnnotator.cpp | 1 + Unreal/Plugins/AirSim/Source/PIPCamera.cpp | 28 ++- Unreal/Plugins/AirSim/Source/PIPCamera.h | 1 + 6 files changed, 105 insertions(+), 122 deletions(-) diff --git a/Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset b/Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset index 6b63af258e62180488d6ef6e43074cb1cd78bb8e..d3a1606c3ef8a0ae20f9b9107ea412cf0b3b9f12 100644 GIT binary patch delta 726 zcmaixZAg<*6vywmD`!ghq_bKxnl_zAH1UNmvh6mT|FrCavKcx80sU{$o`k2aYnFPxDpg zE$D>c7tnSp36Mx>o(hcRdrp$A8ejP{C{GB)95lL~I*fQi8%3T8%!I%NFDtb)gw<>2#a89cG5 z;2Vxx7+l58Rz__xx$U%7S3-&l^NwAZNAMHFHZzQ2+{Wls9D$Ft)oy_~Y_~I7lE6v3 zNPi?S<=Bt+9Re*!9*VT?x=gOs3a|$UY8jkB!O7^&TQYv{6yPCdoeW-MsE*NJy)w4D z1iGpZ>s=yjz@&@OmVV9~@Q7OnXE5$&uy4p?f<-z0eW+bgg$>?{A_aeHMJu*>x5F|# z+2jWwPI=YT6~yOFYVc#VuMd;HA{q!t!@jkksCD?H5B?k4|5f9#&yA0oH_8Wc&2vg1 R(o9>U9>-4wrE`}8>fc4i-rxWL delta 845 zcmb8tUr19?90%}o&dTXP21S;z+WNOYUg!L??cPD5v&;j9h9y2^sN_)58d_vXFtoDJ zXl*C6w6s4&WRVZI2PtUv5bGgZ5C{=uQ4tojh$1Rv{r0;=z4Xw9%lZ7izw?I!=Tn@; z;>>yfP~OiklSr>7(EXjsu|FY$c zhpU@!ym*>3F%y5EorqlPrixfe>#}-bkBsyNqL;dh2d#wULvh`ljtJT8{WCr{X*GrD zHRK=Q*UKVFEujoT$(Ob(Y!S31skXu+)dV^MO?v}QPl1;#!~>FL(SP){BM1q6jU7+B zNhW0Q^6yj|;l?T5PC`^D!+-TGP`lI<%&~^*#FRD2<{QLC+X_)>+se$%qStE`F&n23 zM5aB+Zna`CZs$yCLmC~N&1nn)d)hHg0{iwL8}c|C=tL%f(S68LiL;SzOab@zA%jlNa*iNpon?l1dhKo#$1sZ7OmtRs6i6&`QVR+=y(2PRLH0-s z#$B8}(`YQ@>|O+?g@CW3$Rv=RLN*j}wt5Je0B$^uEG_0NFpQi8_MbtTOE|lF78wRU z96_dlbEC+hn=`|CP5R; zMYF_h*=H*B`~4d#E6a;oS}T0*T~+e-O`TnJ2c%$CPq#2CxzsHj$~kpfSw(dvUbp($ kH)Q#*rD9s~h$lPN;c8?3yq;1uySdgXKJHdjbzpt&FOH@O CVarAirSimAnnotationNaniteSkeletal( - TEXT("airsim.annotation.nanite.skeletal"), - 1, - TEXT("Enable Nanite skeletal mesh annotation support (default: 1)") -); - /** A proxy class to get mesh data from StaticMesh, should be used together with AnnotationCamSensor. Inheritance is needed because I need to access protected data Use `show Material` command to see the effect of this component @@ -152,59 +145,60 @@ class FSkeletalAnnotationSceneProxy : public FSkeletalMeshSceneProxy FMeshElementCollector& Collector) const; }; -// Custom Nanite skeletal annotation proxy that uses Nanite rendering pipeline -// but overrides material rendering to apply annotation colors +// Nanite skeletal mesh annotation proxy. +// Uses Nanite's own rendering pipeline so it works correctly in annotation cameras +// (ShowFlags.Materials=false does NOT disable Nanite shading — Nanite is gated by NaniteMeshes). +// GetViewRelevance hides this proxy from the main viewport (Materials=true) so no duplicate +// copies appear alongside the original Nanite mesh. +// +// IMPORTANT: The proxy is constructed from SkeletalMeshComponent (for mesh/skin data) but +// overrides ComponentId to use AnnotationComponent's ID. This prevents a PrimitiveComponentId +// conflict with the original Nanite proxy and ensures ShowOnlyComponents/HiddenComponents +// filtering correctly identifies this proxy as belonging to the UAnnotationComponent. class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy { public: FNaniteSkeletalAnnotationSceneProxy( - const USkinnedMeshComponent* Component, + const USkinnedMeshComponent* SkeletalMeshComponent, + const UPrimitiveComponent* AnnotationComponent, FSkeletalMeshRenderData* InRenderData, UMaterialInterface* AnnotationMID ) - : Nanite::FSkinnedSceneProxy(CreateNaniteMaterialAudit(Component), Component, InRenderData, true) - , AnnotationMaterial(AnnotationMID) + : Nanite::FSkinnedSceneProxy( + CreateNaniteMaterialAudit(SkeletalMeshComponent), + CreateAnnotationDesc(SkeletalMeshComponent, AnnotationComponent), + InRenderData, + true) { - if (!IsValid(AnnotationMID)) { - UE_LOG(LogTemp, Warning, TEXT("Airsim Annotation: Nanite skeletal annotation material is invalid")); + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Nanite skeletal annotation material is invalid")); return; } FMaterialRenderProxy* AnnotationRenderProxy = AnnotationMID->GetRenderProxy(); - const FMaterialRelevance AnnotationRelevance = AnnotationMID->GetRelevance_Concurrent(GetScene().GetShaderPlatform()); - int32 UpdatedSectionCount = 0; for (Nanite::FSceneProxyBase::FMaterialSection& MaterialSection : GetMaterialSections()) { - MaterialSection.ShadingMaterialProxy = AnnotationRenderProxy; - MaterialSection.RasterMaterialProxy = AnnotationRenderProxy; - MaterialSection.MaterialRelevance = AnnotationRelevance; - MaterialSection.LocalUVDensities = FVector4f(1.0f); - MaterialSection.bHasPerInstanceRandomID = false; - MaterialSection.bHasPerInstanceCustomData = false; - ++UpdatedSectionCount; + if (!MaterialSection.bHidden) + { + MaterialSection.ShadingMaterialProxy = AnnotationRenderProxy; + } } - - OnMaterialsUpdated(true); - UE_LOG(LogTemp, VeryVerbose, TEXT("Airsim Annotation: Nanite skeletal proxy remapped %d material sections to %s"), UpdatedSectionCount, *AnnotationMID->GetName()); + OnMaterialsUpdated(); } virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView* View) const override { - // Hide from main pass (regular scene/lighting cameras) - only show in annotation scene captures + // Hide from main pass and RGB cameras (Materials=true) to avoid duplicating the original mesh. + // Annotation cameras set Materials=false — Nanite still shades normally in that mode, + // so the annotation color is correctly applied there. if (View->Family->EngineShowFlags.Materials) { FPrimitiveViewRelevance ViewRelevance; ViewRelevance.bDrawRelevance = 0; return ViewRelevance; } - - // Show in annotation passes (where Materials flag is OFF) - FPrimitiveViewRelevance ViewRelevance = Nanite::FSkinnedSceneProxy::GetViewRelevance(View); - // Ensure it's marked as relevant for rendering in annotation-only context - ViewRelevance.bDrawRelevance = 1; - return ViewRelevance; + return Nanite::FSkinnedSceneProxy::GetViewRelevance(View); } private: @@ -215,13 +209,21 @@ class FNaniteSkeletalAnnotationSceneProxy : public Nanite::FSkinnedSceneProxy { Nanite::AuditMaterials(Component, Audit, false); } - - UE_LOG(LogTemp, VeryVerbose, TEXT("Airsim Annotation: Created Nanite material audit with %d entries"), Audit.Entries.Num()); - return Audit; } - UMaterialInterface* AnnotationMaterial; + // Creates a proxy desc from the skeletal mesh but overrides ComponentId to match + // the annotation component. This ensures the proxy is correctly identified for + // ShowOnlyComponents/HiddenComponents filtering without conflicting with the + // original Nanite skeletal proxy (which uses SkeletalMeshComponent's ComponentId). + static FSkinnedMeshSceneProxyDesc CreateAnnotationDesc( + const USkinnedMeshComponent* SkeletalMeshComponent, + const UPrimitiveComponent* AnnotationComponent) + { + FSkinnedMeshSceneProxyDesc Desc(SkeletalMeshComponent); + Desc.ComponentId = AnnotationComponent->GetPrimitiveSceneId(); + return Desc; + } }; @@ -263,8 +265,6 @@ UAnnotationComponent::UAnnotationComponent(const FObjectInitializer& ObjectIniti { bSkeletalMesh = false; bTexture = false; - // Initialize from console variable - can be overridden per-component with SetEnableNaniteSkeletalAnnotationPath() - bEnableNaniteSkeletalAnnotationPath = CVarAirSimAnnotationNaniteSkeletal.GetValueOnGameThread() != 0; last_foliage_type_ = EFoliageComponentType::None; FString MaterialPath = TEXT("Material'/AirSim/HUDAssets/AnnotationMaterial.AnnotationMaterial'"); @@ -298,6 +298,15 @@ void UAnnotationComponent::OnRegister() { Super::OnRegister(); + // Ensure the annotation material supports Nanite skeletal mesh shading. + // Nanite checks both MATUSAGE_Nanite and MATUSAGE_SkeletalMesh (NaniteResources.cpp:2535). + // In the editor, CheckMaterialUsage sets the flag and triggers a one-time shader recompile if needed. + if (AnnotationMaterial) + { + AnnotationMaterial->CheckMaterialUsage(MATUSAGE_Nanite); + AnnotationMaterial->CheckMaterialUsage(MATUSAGE_SkeletalMesh); + } + if (this->GetFName().ToString().Contains("annotation_sphere")) { AnnotationMID = UMaterialInstanceDynamic::Create(SphereMaterial, this, TEXT("AnnotationMaterialMID")); if (!IsValid(AnnotationMID)) @@ -426,16 +435,6 @@ UAnnotationComponent::EFoliageComponentType UAnnotationComponent::GetLastDetecte return last_foliage_type_; } -void UAnnotationComponent::SetEnableNaniteSkeletalAnnotationPath(bool bEnable) -{ - bEnableNaniteSkeletalAnnotationPath = bEnable; -} - -bool UAnnotationComponent::IsNaniteSkeletalAnnotationPathEnabled() const -{ - return bEnableNaniteSkeletalAnnotationPath; -} - UAnnotationComponent::EFoliageComponentType UAnnotationComponent::ClassifyFoliageType(const USceneComponent* Component) { const UMeshComponent* MeshComponent = Cast(Component); @@ -496,11 +495,29 @@ bool UAnnotationComponent::IsNaniteSkeletalMesh(const USkeletalMeshComponent* Sk { return false; } - const USkeletalMesh* SkeletalMeshAsset = SkeletalMeshComponent->GetSkeletalMeshAsset(); return SkeletalMeshAsset && SkeletalMeshAsset->IsNaniteEnabled(); } +FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxyNaniteSkeletal(USkeletalMeshComponent* SkeletalMeshComponent) +{ + FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); + if (!SkelMeshRenderData || !SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel())) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Nanite skeletal proxy creation skipped for %s - render data not ready (LOD level %d)"), + *SkeletalMeshComponent->GetName(), SkeletalMeshComponent->GetPredictedLODLevel()); + return nullptr; + } + if (!IsValid(AnnotationMID)) + { + return nullptr; + } + UE_LOG(LogTemp, Verbose, TEXT("AirSim Annotation: Creating Nanite skeletal annotation proxy for %s"), *SkeletalMeshComponent->GetName()); + // Pass 'this' (UAnnotationComponent) as the annotation component so the proxy gets the + // correct PrimitiveComponentId, preventing conflicts with the original Nanite proxy. + return ::new FNaniteSkeletalAnnotationSceneProxy(SkeletalMeshComponent, this, SkelMeshRenderData, AnnotationMID); +} + FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponent* StaticMeshComponent) { UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic @@ -512,27 +529,19 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponen return NULL; } - + UE_LOG(LogTemp, VeryVerbose, TEXT("AirSim Annotation: Creating FStaticAnnotationSceneProxy for %s"), *StaticMeshComponent->GetName()); FPrimitiveSceneProxy* Proxy = ::new FStaticAnnotationSceneProxy(StaticMeshComponent, false, ProxyMaterial); return Proxy; } FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent) { + // Nanite skeletal meshes must use FNaniteSkeletalAnnotationSceneProxy. + // FSkeletalMeshSceneProxy cannot be used with FSkeletalMeshObjectNanite because + // Nanite does not initialize the traditional GPU skin vertex factories (only for ray tracing), + // leading to null uniform buffer crashes in the non-Nanite rendering path. if (IsNaniteSkeletalMesh(SkeletalMeshComponent)) { - - if (!bEnableNaniteSkeletalAnnotationPath) - { - static TSet LoggedNaniteSkeletalMeshes; - if (!LoggedNaniteSkeletalMeshes.Contains(SkeletalMeshComponent->GetName())) - { - LoggedNaniteSkeletalMeshes.Add(SkeletalMeshComponent->GetName()); - UE_LOG(LogTemp, Log, TEXT("AirSim Annotation: Skipping Nanite skeletal mesh %s - Nanite skeletal annotation path is disabled."), *SkeletalMeshComponent->GetName()); - } - return nullptr; - } - return CreateSceneProxyNaniteSkeletal(SkeletalMeshComponent); } @@ -549,59 +558,6 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(USkeletalMeshCompon return nullptr; } -FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxyNaniteSkeletal(USkeletalMeshComponent* SkeletalMeshComponent) -{ - if (!IsValid(SkeletalMeshComponent)) - { - UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: SkeletalMeshComponent is invalid")); - return nullptr; - } - - - const USkeletalMesh* SkeletalMeshAsset = SkeletalMeshComponent->GetSkeletalMeshAsset(); - if (!SkeletalMeshAsset || !SkeletalMeshAsset->IsNaniteEnabled()) - { - UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: SkeletalMeshComponent %s does not have valid Nanite skeletal mesh."), *SkeletalMeshComponent->GetName()); - return nullptr; - } - - - FSkeletalMeshRenderData* SkelMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData(); - if (!SkelMeshRenderData || !SkelMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->GetPredictedLODLevel())) - { - UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: Nanite skeletal mesh %s has invalid render data. RenderData=%p, LOD=%d, MaxLOD=%d"), - *SkeletalMeshComponent->GetName(), - SkelMeshRenderData, - SkeletalMeshComponent->GetPredictedLODLevel(), - SkelMeshRenderData ? SkelMeshRenderData->LODRenderData.Num() : -1); - return nullptr; - } - - UMaterialInterface* ProxyMaterial = AnnotationMID; - if (!IsValid(ProxyMaterial)) - { - UE_LOG(LogTemp, Warning, TEXT("CreateSceneProxyNaniteSkeletal: Annotation material instance is invalid for Nanite skeletal mesh %s"), - *SkeletalMeshComponent->GetName()); - return nullptr; - } - - FPrimitiveSceneProxy* Proxy = ::new FNaniteSkeletalAnnotationSceneProxy( - SkeletalMeshComponent, - SkelMeshRenderData, - ProxyMaterial - ); - - static TSet LoggedNaniteEnabled; - if (!LoggedNaniteEnabled.Contains(SkeletalMeshComponent->GetName())) - { - LoggedNaniteEnabled.Add(SkeletalMeshComponent->GetName()); - UE_LOG(LogTemp, Log, TEXT("Airsim Annotation: Nanite skeletal annotation proxy enabled for %s"), *SkeletalMeshComponent->GetName()); - } - - return Proxy; -} - - FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() { USceneComponent* ParentComponent = this->GetAttachParent(); @@ -678,8 +634,10 @@ void UAnnotationComponent::TickComponent( { USceneComponent* ParentComponent = this->GetAttachParent(); USkeletalMeshComponent* SkeletalMeshComponent = Cast(ParentComponent); - if (SkeletalMeshComponent && !IsNaniteSkeletalMesh(SkeletalMeshComponent)) + if (SkeletalMeshComponent) { + // Update render state for both regular and Nanite skeletal meshes + // This ensures animations and deformations are properly synced MarkRenderStateDirty(); } } @@ -691,3 +649,4 @@ void UAnnotationComponent::ForceUpdate() this->MarkRenderStateDirty(); } + diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h index c914c71f2..893188af1 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h @@ -56,9 +56,6 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent /** Force the component to update to capture changes from the parent */ void ForceUpdate(); - void SetEnableNaniteSkeletalAnnotationPath(bool bEnable); - bool IsNaniteSkeletalAnnotationPathEnabled() const; - public: // Simple classification for foliage-related mesh components. enum class EFoliageComponentType : uint8 @@ -87,7 +84,6 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent bool bSkeletalMesh; // indicate whether this is for a SkeletalMesh bool bTexture; // indicate if this is a texture annotation component - bool bEnableNaniteSkeletalAnnotationPath; EFoliageComponentType last_foliage_type_; static EFoliageComponentType ClassifyFoliageType(const USceneComponent* Component); diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index 373c683a4..37e94f93a 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -1266,6 +1266,7 @@ void FObjectAnnotator::EndPlay() { component_to_name_map_.Empty(); } + int32 FColorGenerator::GetChannelValue(uint32 index) { static int32 values[256] = { 0 }; diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp index e6064674c..d7e1179b9 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp @@ -150,6 +150,8 @@ void APIPCamera::PostInitializeComponents() FObjectAnnotator::SetViewForAnnotationRender(captures_[Utils::toNumeric(ImageType::Segmentation)]->ShowFlags); captures_[Utils::toNumeric(ImageType::Segmentation)]->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_UseShowOnlyList; + // Initialize ShowOnlyComponents as empty - will be populated by UpdateAnnotationComponentsFromObjectAnnotator + captures_[Utils::toNumeric(ImageType::Segmentation)]->ShowOnlyComponents.Empty(); captures_[Utils::toNumeric(ImageType::Lighting)]->ShowFlags.SetLighting(true); captures_[Utils::toNumeric(ImageType::Lighting)]->ShowFlags.SetMaterials(false); @@ -1321,4 +1323,28 @@ void APIPCamera::copyCameraSettingsToSceneCapture(UCameraComponent* src, USceneC } } -//end CinemAirSim methods +//end CinemAirSim + +void APIPCamera::updateAnnotationComponentsFromObjectAnnotator(FObjectAnnotator& annotator, const FString& annotator_name) { + // Get annotation components from ObjectAnnotator and set them in the appropriate scene capture + TArray> annotation_components = annotator.GetAnnotationComponents(); + + UE_LOG(LogTemp, Log, TEXT("updateAnnotationComponentsFromObjectAnnotator: Found %d annotation components"), annotation_components.Num()); + + if (annotator_name.IsEmpty() || annotator_name.Equals(TEXT("InstanceSegmentation"), ESearchCase::IgnoreCase)) { + // Update instance segmentation (RGB annotation) + UE_LOG(LogTemp, Log, TEXT("updateAnnotationComponentsFromObjectAnnotator: Adding to InstanceSegmentation scene capture")); + updateInstanceSegmentationAnnotation(annotation_components, false); + } + else { + // Update named annotation camera + UE_LOG(LogTemp, Log, TEXT("updateAnnotationComponentsFromObjectAnnotator: Adding to annotation camera '%s'"), *annotator_name); + updateAnnotation(annotation_components, annotator_name, false); + } + + if (Utils::toNumeric(ImageType::Segmentation) < captures_.Num()) { + UE_LOG(LogTemp, Log, TEXT("updateAnnotationComponentsFromObjectAnnotator: Completed. Scene capture ShowOnlyComponents has %d items"), + captures_[Utils::toNumeric(ImageType::Segmentation)]->ShowOnlyComponents.Num()); + } +} + diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.h b/Unreal/Plugins/AirSim/Source/PIPCamera.h index cc4894c7e..6d038e531 100644 --- a/Unreal/Plugins/AirSim/Source/PIPCamera.h +++ b/Unreal/Plugins/AirSim/Source/PIPCamera.h @@ -73,6 +73,7 @@ class AIRSIM_API APIPCamera : public ACineCameraActor //CinemAirSim void updateInstanceSegmentationAnnotation(TArray >& ComponentList, bool only_hide=false); bool GetAnnotationNameExist(std::string annotation_name); void updateAnnotation(TArray >& ComponentList, FString annotation_name, bool only_hide = false); + void updateAnnotationComponentsFromObjectAnnotator(FObjectAnnotator& annotator, const FString& annotator_name = TEXT("InstanceSegmentation")); void addAnnotationCamera(FString name, FObjectAnnotator::AnnotatorType type, float max_view_distance = -1.0f); void setupCameraFromSettings(const APIPCamera::CameraSetting& camera_setting, const NedTransform& ned_transform); void setCameraPose(const msr::airlib::Pose& relative_pose); From f3c51f28303dc14f47968c2737f1b130a368d63b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Wed, 18 Mar 2026 13:48:07 +0100 Subject: [PATCH 33/70] got instanced skeletal nanite meshes working --- Unreal/Environments/Blocks/Blocks.uproject | 4 ++ .../Blocks/Config/DefaultEditor.ini | 3 ++ .../Blocks/Config/DefaultEngine.ini | 1 + .../FlyingCPP/Maps/FlyingExampleMap.umap | Bin 4994826 -> 5164440 bytes .../Geometry/Meshes/CubeMaterial.uasset | Bin 8350 -> 12097 bytes .../Source/Annotation/AnnotationComponent.cpp | 51 ++++++++++++++++-- .../Source/Annotation/AnnotationComponent.h | 2 +- 7 files changed, 56 insertions(+), 5 deletions(-) diff --git a/Unreal/Environments/Blocks/Blocks.uproject b/Unreal/Environments/Blocks/Blocks.uproject index 8220dc773..bc0392ca5 100644 --- a/Unreal/Environments/Blocks/Blocks.uproject +++ b/Unreal/Environments/Blocks/Blocks.uproject @@ -21,6 +21,10 @@ { "Name": "ChaosVehiclesPlugin", "Enabled": true + }, + { + "Name": "ProceduralVegetationEditor", + "Enabled": true } ] } \ No newline at end of file diff --git a/Unreal/Environments/Blocks/Config/DefaultEditor.ini b/Unreal/Environments/Blocks/Config/DefaultEditor.ini index f44257a4d..18b0921a3 100644 --- a/Unreal/Environments/Blocks/Config/DefaultEditor.ini +++ b/Unreal/Environments/Blocks/Config/DefaultEditor.ini @@ -8,4 +8,7 @@ bDontLoadBlueprintOutsideEditor= true bBlueprintIsNotBlueprintType= true [/Script/AdvancedPreviewScene.SharedProfiles] ++Profiles=(ProfileName="Epic Headquarters",bSharedProfile=True,bIsEngineDefaultProfile=True,bUseSkyLighting=True,DirectionalLightIntensity=1.000000,DirectionalLightColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SkyLightIntensity=1.000000,bRotateLightingRig=False,bShowEnvironment=True,bShowFloor=True,bShowGrid=False,EnvironmentColor=(R=0.200000,G=0.200000,B=0.200000,A=1.000000),EnvironmentIntensity=1.000000,EnvironmentCubeMapPath="/Engine/EditorMaterials/AssetViewer/EpicQuadPanorama_CC+EV1.EpicQuadPanorama_CC+EV1",bPostProcessingEnabled=True,PostProcessingSettings=(bOverride_TemperatureType=False,bOverride_WhiteTemp=False,bOverride_WhiteTint=False,bOverride_ColorSaturation=False,bOverride_ColorContrast=False,bOverride_ColorGamma=False,bOverride_ColorGain=False,bOverride_ColorOffset=False,bOverride_ColorSaturationShadows=False,bOverride_ColorContrastShadows=False,bOverride_ColorGammaShadows=False,bOverride_ColorGainShadows=False,bOverride_ColorOffsetShadows=False,bOverride_ColorSaturationMidtones=False,bOverride_ColorContrastMidtones=False,bOverride_ColorGammaMidtones=False,bOverride_ColorGainMidtones=False,bOverride_ColorOffsetMidtones=False,bOverride_ColorSaturationHighlights=False,bOverride_ColorContrastHighlights=False,bOverride_ColorGammaHighlights=False,bOverride_ColorGainHighlights=False,bOverride_ColorOffsetHighlights=False,bOverride_ColorCorrectionShadowsMax=False,bOverride_ColorCorrectionHighlightsMin=False,bOverride_ColorCorrectionHighlightsMax=False,bOverride_BlueCorrection=False,bOverride_ExpandGamut=False,bOverride_ToneCurveAmount=False,bOverride_FilmSlope=False,bOverride_FilmToe=False,bOverride_FilmShoulder=False,bOverride_FilmBlackClip=False,bOverride_FilmWhiteClip=False,bOverride_SceneColorTint=False,bOverride_SceneFringeIntensity=False,bOverride_ChromaticAberrationStartOffset=False,bOverride_bMegaLights=False,bOverride_AmbientCubemapTint=False,bOverride_AmbientCubemapIntensity=False,bOverride_BloomMethod=False,bOverride_BloomIntensity=False,bOverride_BloomGaussianIntensity=False,bOverride_BloomThreshold=False,bOverride_Bloom1Tint=False,bOverride_Bloom1Size=False,bOverride_Bloom2Size=False,bOverride_Bloom2Tint=False,bOverride_Bloom3Tint=False,bOverride_Bloom3Size=False,bOverride_Bloom4Tint=False,bOverride_Bloom4Size=False,bOverride_Bloom5Tint=False,bOverride_Bloom5Size=False,bOverride_Bloom6Tint=False,bOverride_Bloom6Size=False,bOverride_BloomSizeScale=False,bOverride_BloomConvolutionIntensity=False,bOverride_BloomConvolutionTexture=False,bOverride_BloomConvolutionScatterDispersion=False,bOverride_BloomConvolutionSize=False,bOverride_BloomConvolutionCenterUV=False,bOverride_BloomConvolutionPreFilterMin=False,bOverride_BloomConvolutionPreFilterMax=False,bOverride_BloomConvolutionPreFilterMult=False,bOverride_BloomConvolutionBufferScale=False,bOverride_BloomDirtMaskIntensity=False,bOverride_BloomDirtMaskTint=False,bOverride_BloomDirtMask=False,bOverride_CameraShutterSpeed=False,bOverride_CameraISO=False,bOverride_AutoExposureMethod=False,bOverride_AutoExposureLowPercent=False,bOverride_AutoExposureHighPercent=False,bOverride_AutoExposureMinBrightness=False,bOverride_AutoExposureMaxBrightness=False,bOverride_AutoExposureSpeedUp=False,bOverride_AutoExposureSpeedDown=False,bOverride_AutoExposureBias=False,bOverride_AutoExposureBiasCurve=False,bOverride_AutoExposureMeterMask=False,bOverride_AutoExposureApplyPhysicalCameraExposure=False,bOverride_HistogramLogMin=False,bOverride_HistogramLogMax=False,bOverride_LocalExposureMethod=False,bOverride_LocalExposureHighlightContrastScale=False,bOverride_LocalExposureShadowContrastScale=False,bOverride_LocalExposureHighlightContrastCurve=False,bOverride_LocalExposureShadowContrastCurve=False,bOverride_LocalExposureHighlightThreshold=False,bOverride_LocalExposureShadowThreshold=False,bOverride_LocalExposureDetailStrength=False,bOverride_LocalExposureBlurredLuminanceBlend=False,bOverride_LocalExposureBlurredLuminanceKernelSizePercent=False,bOverride_LocalExposureHighlightThresholdStrength=False,bOverride_LocalExposureShadowThresholdStrength=False,bOverride_LocalExposureMiddleGreyBias=False,bOverride_LensFlareIntensity=False,bOverride_LensFlareTint=False,bOverride_LensFlareTints=False,bOverride_LensFlareBokehSize=False,bOverride_LensFlareBokehShape=False,bOverride_LensFlareThreshold=False,bOverride_VignetteIntensity=False,bOverride_Sharpen=False,bOverride_FilmGrainIntensity=False,bOverride_FilmGrainIntensityShadows=False,bOverride_FilmGrainIntensityMidtones=False,bOverride_FilmGrainIntensityHighlights=False,bOverride_FilmGrainShadowsMax=False,bOverride_FilmGrainHighlightsMin=False,bOverride_FilmGrainHighlightsMax=False,bOverride_FilmGrainTexelSize=False,bOverride_FilmGrainTexture=False,bOverride_AmbientOcclusionIntensity=False,bOverride_AmbientOcclusionStaticFraction=False,bOverride_AmbientOcclusionRadius=False,bOverride_AmbientOcclusionFadeDistance=False,bOverride_AmbientOcclusionFadeRadius=False,bOverride_AmbientOcclusionRadiusInWS=False,bOverride_AmbientOcclusionPower=False,bOverride_AmbientOcclusionBias=False,bOverride_AmbientOcclusionQuality=False,bOverride_AmbientOcclusionMipBlend=False,bOverride_AmbientOcclusionMipScale=False,bOverride_AmbientOcclusionMipThreshold=False,bOverride_AmbientOcclusionTemporalBlendWeight=False,bOverride_RayTracingAO=False,bOverride_RayTracingAOSamplesPerPixel=False,bOverride_RayTracingAOIntensity=False,bOverride_RayTracingAORadius=False,bOverride_IndirectLightingColor=False,bOverride_IndirectLightingIntensity=False,bOverride_ColorGradingIntensity=False,bOverride_ColorGradingLUT=False,bOverride_DepthOfFieldFocalDistance=False,bOverride_DepthOfFieldFstop=False,bOverride_DepthOfFieldMinFstop=False,bOverride_DepthOfFieldBladeCount=False,bOverride_DepthOfFieldSensorWidth=False,bOverride_DepthOfFieldSqueezeFactor=False,bOverride_DepthOfFieldDepthBlurRadius=False,bOverride_DepthOfFieldUseHairDepth=False,bOverride_DepthOfFieldPetzvalBokeh=False,bOverride_DepthOfFieldPetzvalBokehFalloff=False,bOverride_DepthOfFieldPetzvalExclusionBoxExtents=False,bOverride_DepthOfFieldPetzvalExclusionBoxRadius=False,bOverride_DepthOfFieldAspectRatioScalar=False,bOverride_DepthOfFieldMatteBoxFlags=False,bOverride_DepthOfFieldBarrelRadius=False,bOverride_DepthOfFieldBarrelLength=False,bOverride_DepthOfFieldDepthBlurAmount=False,bOverride_DepthOfFieldFocalRegion=False,bOverride_DepthOfFieldNearTransitionRegion=False,bOverride_DepthOfFieldFarTransitionRegion=False,bOverride_DepthOfFieldScale=False,bOverride_DepthOfFieldNearBlurSize=False,bOverride_DepthOfFieldFarBlurSize=False,bOverride_MobileHQGaussian=False,bOverride_DepthOfFieldOcclusion=False,bOverride_DepthOfFieldSkyFocusDistance=False,bOverride_DepthOfFieldVignetteSize=False,bOverride_MotionBlurAmount=False,bOverride_MotionBlurMax=False,bOverride_MotionBlurTargetFPS=False,bOverride_MotionBlurPerObjectSize=False,bOverride_ReflectionMethod=False,bOverride_LumenReflectionQuality=False,bOverride_ScreenSpaceReflectionIntensity=False,bOverride_ScreenSpaceReflectionQuality=False,bOverride_ScreenSpaceReflectionMaxRoughness=False,bOverride_ScreenSpaceReflectionRoughnessScale=False,bOverride_UserFlags=False,bOverride_RayTracingReflectionsMaxRoughness=False,bOverride_RayTracingReflectionsMaxBounces=False,bOverride_RayTracingReflectionsSamplesPerPixel=False,bOverride_RayTracingReflectionsShadows=False,bOverride_RayTracingReflectionsTranslucency=False,bOverride_TranslucencyType=False,bOverride_RayTracingTranslucencyMaxRoughness=False,bOverride_RayTracingTranslucencyRefractionRays=False,bOverride_RayTracingTranslucencySamplesPerPixel=False,bOverride_RayTracingTranslucencyShadows=False,bOverride_RayTracingTranslucencyRefraction=False,bOverride_RayTracingTranslucencyMaxPrimaryHitEvents=False,bOverride_RayTracingTranslucencyMaxSecondaryHitEvents=False,bOverride_RayTracingTranslucencyUseRayTracedRefraction=False,bOverride_DynamicGlobalIlluminationMethod=False,bOverride_LumenSceneLightingQuality=False,bOverride_LumenSceneDetail=False,bOverride_LumenSceneViewDistance=False,bOverride_LumenSceneLightingUpdateSpeed=False,bOverride_LumenFinalGatherQuality=False,bOverride_LumenFinalGatherLightingUpdateSpeed=False,bOverride_LumenFinalGatherScreenTraces=False,bOverride_LumenMaxTraceDistance=False,bOverride_LumenDiffuseColorBoost=False,bOverride_LumenSkylightLeaking=False,bOverride_LumenSkylightLeakingTint=False,bOverride_LumenFullSkylightLeakingDistance=False,bOverride_LumenRayLightingMode=False,bOverride_LumenReflectionsScreenTraces=False,bOverride_LumenFrontLayerTranslucencyReflections=False,bOverride_LumenMaxRoughnessToTraceReflections=False,bOverride_LumenMaxReflectionBounces=False,bOverride_LumenMaxRefractionBounces=False,bOverride_LumenSurfaceCacheResolution=False,bOverride_RayTracingGI=False,bOverride_RayTracingGIMaxBounces=False,bOverride_RayTracingGISamplesPerPixel=False,bOverride_PathTracingMaxBounces=False,bOverride_PathTracingSamplesPerPixel=False,bOverride_PathTracingMaxPathIntensity=False,bOverride_PathTracingEnableEmissiveMaterials=False,bOverride_PathTracingEnableReferenceDOF=False,bOverride_PathTracingEnableReferenceAtmosphere=False,bOverride_PathTracingEnableDenoiser=False,bOverride_PathTracingIncludeEmissive=False,bOverride_PathTracingIncludeDiffuse=False,bOverride_PathTracingIncludeIndirectDiffuse=False,bOverride_PathTracingIncludeSpecular=False,bOverride_PathTracingIncludeIndirectSpecular=False,bOverride_PathTracingIncludeVolume=False,bOverride_PathTracingIncludeIndirectVolume=False,bMobileHQGaussian=False,BloomMethod=BM_SOG,AutoExposureMethod=AEM_Histogram,TemperatureType=TEMP_WhiteBalance,WhiteTemp=6500.000000,WhiteTint=0.000000,ColorSaturation=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrast=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGamma=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGain=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffset=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetShadows=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetMidtones=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetHighlights=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorCorrectionHighlightsMin=0.500000,ColorCorrectionHighlightsMax=1.000000,ColorCorrectionShadowsMax=0.090000,BlueCorrection=0.600000,ExpandGamut=1.000000,ToneCurveAmount=1.000000,FilmSlope=0.880000,FilmToe=0.550000,FilmShoulder=0.260000,FilmBlackClip=0.000000,FilmWhiteClip=0.040000,SceneColorTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SceneFringeIntensity=0.000000,ChromaticAberrationStartOffset=0.000000,BloomIntensity=0.675000,BloomGaussianIntensity=1.000000,BloomThreshold=-1.000000,BloomSizeScale=4.000000,Bloom1Size=0.300000,Bloom2Size=1.000000,Bloom3Size=2.000000,Bloom4Size=10.000000,Bloom5Size=30.000000,Bloom6Size=64.000000,Bloom1Tint=(R=0.346500,G=0.346500,B=0.346500,A=1.000000),Bloom2Tint=(R=0.138000,G=0.138000,B=0.138000,A=1.000000),Bloom3Tint=(R=0.117600,G=0.117600,B=0.117600,A=1.000000),Bloom4Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom5Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom6Tint=(R=0.061000,G=0.061000,B=0.061000,A=1.000000),BloomConvolutionIntensity=1.000000,BloomConvolutionScatterDispersion=1.000000,BloomConvolutionSize=1.000000,BloomConvolutionTexture=None,BloomConvolutionCenterUV=(X=0.500000,Y=0.500000),BloomConvolutionPreFilterMin=7.000000,BloomConvolutionPreFilterMax=15000.000000,BloomConvolutionPreFilterMult=15.000000,BloomConvolutionBufferScale=0.133000,BloomDirtMask=None,BloomDirtMaskIntensity=0.000000,BloomDirtMaskTint=(R=0.500000,G=0.500000,B=0.500000,A=1.000000),DynamicGlobalIlluminationMethod=Lumen,IndirectLightingColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),IndirectLightingIntensity=1.000000,LumenRayLightingMode=Default,LumenSceneLightingQuality=1.000000,LumenSceneDetail=1.000000,LumenSceneViewDistance=20000.000000,LumenSceneLightingUpdateSpeed=1.000000,LumenFinalGatherQuality=1.000000,LumenFinalGatherLightingUpdateSpeed=1.000000,LumenFinalGatherScreenTraces=True,LumenMaxTraceDistance=20000.000000,LumenDiffuseColorBoost=1.000000,LumenSkylightLeaking=0.000000,LumenSkylightLeakingTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),LumenFullSkylightLeakingDistance=1000.000000,LumenSurfaceCacheResolution=1.000000,ReflectionMethod=Lumen,LumenReflectionQuality=1.000000,LumenReflectionsScreenTraces=True,LumenFrontLayerTranslucencyReflections=False,LumenMaxRoughnessToTraceReflections=0.400000,LumenMaxReflectionBounces=1,LumenMaxRefractionBounces=0,ScreenSpaceReflectionIntensity=100.000000,ScreenSpaceReflectionQuality=50.000000,ScreenSpaceReflectionMaxRoughness=0.600000,bMegaLights=True,AmbientCubemapTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),AmbientCubemapIntensity=1.000000,AmbientCubemap=None,CameraShutterSpeed=60.000000,CameraISO=100.000000,DepthOfFieldFstop=4.000000,DepthOfFieldMinFstop=1.200000,DepthOfFieldBladeCount=5,AutoExposureBias=1.000000,AutoExposureBiasBackup=0.000000,bOverride_AutoExposureBiasBackup=False,AutoExposureApplyPhysicalCameraExposure=True,AutoExposureBiasCurve=None,AutoExposureMeterMask=None,AutoExposureLowPercent=10.000000,AutoExposureHighPercent=90.000000,AutoExposureMinBrightness=0.030000,AutoExposureMaxBrightness=8.000000,AutoExposureSpeedUp=3.000000,AutoExposureSpeedDown=1.000000,HistogramLogMin=-8.000000,HistogramLogMax=4.000000,LocalExposureMethod=Bilateral,LocalExposureHighlightContrastScale=1.000000,LocalExposureShadowContrastScale=1.000000,LocalExposureHighlightContrastCurve=None,LocalExposureShadowContrastCurve=None,LocalExposureHighlightThreshold=0.000000,LocalExposureShadowThreshold=0.000000,LocalExposureDetailStrength=1.000000,LocalExposureBlurredLuminanceBlend=0.600000,LocalExposureBlurredLuminanceKernelSizePercent=50.000000,LocalExposureHighlightThresholdStrength=1.000000,LocalExposureShadowThresholdStrength=1.000000,LocalExposureMiddleGreyBias=0.000000,LensFlareIntensity=1.000000,LensFlareTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),LensFlareBokehSize=3.000000,LensFlareThreshold=8.000000,LensFlareBokehShape=None,LensFlareTints[0]=(R=1.000000,G=0.800000,B=0.400000,A=0.600000),LensFlareTints[1]=(R=1.000000,G=1.000000,B=0.600000,A=0.530000),LensFlareTints[2]=(R=0.800000,G=0.800000,B=1.000000,A=0.460000),LensFlareTints[3]=(R=0.500000,G=1.000000,B=0.400000,A=0.390000),LensFlareTints[4]=(R=0.500000,G=0.800000,B=1.000000,A=0.310000),LensFlareTints[5]=(R=0.900000,G=1.000000,B=0.800000,A=0.270000),LensFlareTints[6]=(R=1.000000,G=0.800000,B=0.400000,A=0.220000),LensFlareTints[7]=(R=0.900000,G=0.700000,B=0.700000,A=0.150000),VignetteIntensity=0.400000,Sharpen=0.000000,FilmGrainIntensity=0.000000,FilmGrainIntensityShadows=1.000000,FilmGrainIntensityMidtones=1.000000,FilmGrainIntensityHighlights=1.000000,FilmGrainShadowsMax=0.090000,FilmGrainHighlightsMin=0.500000,FilmGrainHighlightsMax=1.000000,FilmGrainTexelSize=1.000000,FilmGrainTexture=None,AmbientOcclusionIntensity=0.500000,AmbientOcclusionStaticFraction=1.000000,AmbientOcclusionRadius=200.000000,AmbientOcclusionRadiusInWS=False,AmbientOcclusionFadeDistance=8000.000000,AmbientOcclusionFadeRadius=5000.000000,AmbientOcclusionPower=2.000000,AmbientOcclusionBias=3.000000,AmbientOcclusionQuality=50.000000,AmbientOcclusionMipBlend=0.600000,AmbientOcclusionMipScale=1.700000,AmbientOcclusionMipThreshold=0.010000,AmbientOcclusionTemporalBlendWeight=0.100000,RayTracingAO=False,RayTracingAOSamplesPerPixel=1,RayTracingAOIntensity=1.000000,RayTracingAORadius=200.000000,ColorGradingIntensity=1.000000,ColorGradingLUT=None,DepthOfFieldSensorWidth=24.576000,DepthOfFieldSqueezeFactor=1.000000,DepthOfFieldFocalDistance=0.000000,DepthOfFieldDepthBlurAmount=1.000000,DepthOfFieldDepthBlurRadius=0.000000,DepthOfFieldUseHairDepth=False,DepthOfFieldPetzvalBokeh=0.000000,DepthOfFieldPetzvalBokehFalloff=1.000000,DepthOfFieldPetzvalExclusionBoxExtents=(X=0.000000,Y=0.000000),DepthOfFieldPetzvalExclusionBoxRadius=0.000000,DepthOfFieldAspectRatioScalar=1.000000,DepthOfFieldBarrelRadius=5.000000,DepthOfFieldBarrelLength=0.000000,DepthOfFieldMatteBoxFlags[0]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[1]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[2]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldFocalRegion=0.000000,DepthOfFieldNearTransitionRegion=300.000000,DepthOfFieldFarTransitionRegion=500.000000,DepthOfFieldScale=0.000000,DepthOfFieldNearBlurSize=15.000000,DepthOfFieldFarBlurSize=15.000000,DepthOfFieldOcclusion=0.400000,DepthOfFieldSkyFocusDistance=0.000000,DepthOfFieldVignetteSize=200.000000,MotionBlurAmount=0.500000,MotionBlurMax=5.000000,MotionBlurTargetFPS=30,MotionBlurPerObjectSize=0.000000,TranslucencyType=Raster,RayTracingTranslucencyMaxRoughness=0.600000,RayTracingTranslucencyRefractionRays=3,RayTracingTranslucencySamplesPerPixel=1,RayTracingTranslucencyMaxPrimaryHitEvents=4,RayTracingTranslucencyMaxSecondaryHitEvents=2,RayTracingTranslucencyShadows=Hard_shadows,RayTracingTranslucencyRefraction=True,RayTracingTranslucencyUseRayTracedRefraction=False,PathTracingMaxBounces=32,PathTracingSamplesPerPixel=2048,PathTracingMaxPathIntensity=24.000000,PathTracingEnableEmissiveMaterials=True,PathTracingEnableReferenceDOF=False,PathTracingEnableReferenceAtmosphere=False,PathTracingEnableDenoiser=True,PathTracingIncludeEmissive=True,PathTracingIncludeDiffuse=True,PathTracingIncludeIndirectDiffuse=True,PathTracingIncludeSpecular=True,PathTracingIncludeIndirectSpecular=True,PathTracingIncludeVolume=True,PathTracingIncludeIndirectVolume=True,UserFlags=0,WeightedBlendables=(Array=)),LightingRigRotation=0.000000,RotationSpeed=2.000000,DirectionalLightRotation=(Pitch=-40.000000,Yaw=-67.500000,Roll=0.000000),bEnableToneMapping=True,bShowMeshEdges=False) ++Profiles=(ProfileName="Grey 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e_AmbientOcclusionBias=False,bOverride_AmbientOcclusionQuality=False,bOverride_AmbientOcclusionMipBlend=False,bOverride_AmbientOcclusionMipScale=False,bOverride_AmbientOcclusionMipThreshold=False,bOverride_AmbientOcclusionTemporalBlendWeight=False,bOverride_RayTracingAO=False,bOverride_RayTracingAOSamplesPerPixel=False,bOverride_RayTracingAOIntensity=False,bOverride_RayTracingAORadius=False,bOverride_IndirectLightingColor=False,bOverride_IndirectLightingIntensity=False,bOverride_ColorGradingIntensity=False,bOverride_ColorGradingLUT=False,bOverride_DepthOfFieldFocalDistance=False,bOverride_DepthOfFieldFstop=False,bOverride_DepthOfFieldMinFstop=False,bOverride_DepthOfFieldBladeCount=False,bOverride_DepthOfFieldSensorWidth=False,bOverride_DepthOfFieldSqueezeFactor=False,bOverride_DepthOfFieldDepthBlurRadius=False,bOverride_DepthOfFieldUseHairDepth=False,bOverride_DepthOfFieldPetzvalBokeh=False,bOverride_DepthOfFieldPetzvalBokehFalloff=False,bOverride_DepthOfFieldPetzvalExclusionBoxExtents=False,bOverride_DepthOfFieldPetzvalExclusionBoxRadius=False,bOverride_DepthOfFieldAspectRatioScalar=False,bOverride_DepthOfFieldMatteBoxFlags=False,bOverride_DepthOfFieldBarrelRadius=False,bOverride_DepthOfFieldBarrelLength=False,bOverride_DepthOfFieldDepthBlurAmount=False,bOverride_DepthOfFieldFocalRegion=False,bOverride_DepthOfFieldNearTransitionRegion=False,bOverride_DepthOfFieldFarTransitionRegion=False,bOverride_DepthOfFieldScale=False,bOverride_DepthOfFieldNearBlurSize=False,bOverride_DepthOfFieldFarBlurSize=False,bOverride_MobileHQGaussian=False,bOverride_DepthOfFieldOcclusion=False,bOverride_DepthOfFieldSkyFocusDistance=False,bOverride_DepthOfFieldVignetteSize=False,bOverride_MotionBlurAmount=False,bOverride_MotionBlurMax=False,bOverride_MotionBlurTargetFPS=False,bOverride_MotionBlurPerObjectSize=False,bOverride_ReflectionMethod=False,bOverride_LumenReflectionQuality=False,bOverride_ScreenSpaceReflectionIntensity=False,bOverride_ScreenSpaceReflectionQuality=False,bOverride_ScreenSpaceReflectionMaxRoughness=False,bOverride_ScreenSpaceReflectionRoughnessScale=False,bOverride_UserFlags=False,bOverride_RayTracingReflectionsMaxRoughness=False,bOverride_RayTracingReflectionsMaxBounces=False,bOverride_RayTracingReflectionsSamplesPerPixel=False,bOverride_RayTracingReflectionsShadows=False,bOverride_RayTracingReflectionsTranslucency=False,bOverride_TranslucencyType=False,bOverride_RayTracingTranslucencyMaxRoughness=False,bOverride_RayTracingTranslucencyRefractionRays=False,bOverride_RayTracingTranslucencySamplesPerPixel=False,bOverride_RayTracingTranslucencyShadows=False,bOverride_RayTracingTranslucencyRefraction=False,bOverride_RayTracingTranslucencyMaxPrimaryHitEvents=False,bOverride_RayTracingTranslucencyMaxSecondaryHitEvents=False,bOverride_RayTracingTranslucencyUseRayTracedRefraction=False,bOverride_DynamicGlobalIlluminationMethod=False,bOverride_LumenSceneLightingQuality=False,bOverride_LumenSceneDetail=False,bOverride_LumenSceneViewDistance=False,bOverride_LumenSceneLightingUpdateSpeed=False,bOverride_LumenFinalGatherQuality=False,bOverride_LumenFinalGatherLightingUpdateSpeed=False,bOverride_LumenFinalGatherScreenTraces=False,bOverride_LumenMaxTraceDistance=False,bOverride_LumenDiffuseColorBoost=False,bOverride_LumenSkylightLeaking=False,bOverride_LumenSkylightLeakingTint=False,bOverride_LumenFullSkylightLeakingDistance=False,bOverride_LumenRayLightingMode=False,bOverride_LumenReflectionsScreenTraces=False,bOverride_LumenFrontLayerTranslucencyReflections=False,bOverride_LumenMaxRoughnessToTraceReflections=False,bOverride_LumenMaxReflectionBounces=False,bOverride_LumenMaxRefractionBounces=False,bOverride_LumenSurfaceCacheResolution=False,bOverride_RayTracingGI=False,bOverride_RayTracingGIMaxBounces=False,bOverride_RayTracingGISamplesPerPixel=False,bOverride_PathTracingMaxBounces=False,bOverride_PathTracingSamplesPerPixel=False,bOverride_PathTracingMaxPathIntensity=False,bOverride_PathTracingEnableEmissiveMaterials=False,bOverride_PathTracingEnableReferenceDOF=False,bOverride_PathTracingEnableReferenceAtmosphere=False,bOverride_PathTracingEnableDenoiser=False,bOverride_PathTracingIncludeEmissive=False,bOverride_PathTracingIncludeDiffuse=False,bOverride_PathTracingIncludeIndirectDiffuse=False,bOverride_PathTracingIncludeSpecular=False,bOverride_PathTracingIncludeIndirectSpecular=False,bOverride_PathTracingIncludeVolume=False,bOverride_PathTracingIncludeIndirectVolume=False,bMobileHQGaussian=False,BloomMethod=BM_SOG,AutoExposureMethod=AEM_Histogram,TemperatureType=TEMP_WhiteBalance,WhiteTemp=6500.000000,WhiteTint=0.000000,ColorSaturation=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrast=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGamma=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGain=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffset=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastShadows=(X=1.000000,Y=1.000000,Z=1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00000,G=1.000000,B=0.400000,A=0.390000),LensFlareTints[4]=(R=0.500000,G=0.800000,B=1.000000,A=0.310000),LensFlareTints[5]=(R=0.900000,G=1.000000,B=0.800000,A=0.270000),LensFlareTints[6]=(R=1.000000,G=0.800000,B=0.400000,A=0.220000),LensFlareTints[7]=(R=0.900000,G=0.700000,B=0.700000,A=0.150000),VignetteIntensity=0.400000,Sharpen=0.000000,FilmGrainIntensity=0.000000,FilmGrainIntensityShadows=1.000000,FilmGrainIntensityMidtones=1.000000,FilmGrainIntensityHighlights=1.000000,FilmGrainShadowsMax=0.090000,FilmGrainHighlightsMin=0.500000,FilmGrainHighlightsMax=1.000000,FilmGrainTexelSize=1.000000,FilmGrainTexture=None,AmbientOcclusionIntensity=0.500000,AmbientOcclusionStaticFraction=1.000000,AmbientOcclusionRadius=200.000000,AmbientOcclusionRadiusInWS=False,AmbientOcclusionFadeDistance=8000.000000,AmbientOcclusionFadeRadius=5000.000000,AmbientOcclusionPower=2.000000,AmbientOcclusionBias=3.000000,AmbientOcclusionQuality=50.000000,AmbientOcclusionMipBlend=0.600000,AmbientOcclusionMipScale=1.700000,AmbientOcclusionMipThreshold=0.010000,AmbientOcclusionTemporalBlendWeight=0.100000,RayTracingAO=False,RayTracingAOSamplesPerPixel=1,RayTracingAOIntensity=1.000000,RayTracingAORadius=200.000000,ColorGradingIntensity=1.000000,ColorGradingLUT=None,DepthOfFieldSensorWidth=24.576000,DepthOfFieldSqueezeFactor=1.000000,DepthOfFieldFocalDistance=0.000000,DepthOfFieldDepthBlurAmount=1.000000,DepthOfFieldDepthBlurRadius=0.000000,DepthOfFieldUseHairDepth=False,DepthOfFieldPetzvalBokeh=0.000000,DepthOfFieldPetzvalBokehFalloff=1.000000,DepthOfFieldPetzvalExclusionBoxExtents=(X=0.000000,Y=0.000000),DepthOfFieldPetzvalExclusionBoxRadius=0.000000,DepthOfFieldAspectRatioScalar=1.000000,DepthOfFieldBarrelRadius=5.000000,DepthOfFieldBarrelLength=0.000000,DepthOfFieldMatteBoxFlags[0]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[1]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[2]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldFocalRegion=0.000000,DepthOfFieldNearTransitionRegion=300.000000,DepthOfFieldFarTransitionRegion=500.000000,DepthOfFieldScale=0.000000,DepthOfFieldNearBlurSize=15.000000,DepthOfFieldFarBlurSize=15.000000,DepthOfFieldOcclusion=0.400000,DepthOfFieldSkyFocusDistance=0.000000,DepthOfFieldVignetteSize=200.000000,MotionBlurAmount=0.500000,MotionBlurMax=5.000000,MotionBlurTargetFPS=30,MotionBlurPerObjectSize=0.000000,TranslucencyType=Raster,RayTracingTranslucencyMaxRoughness=0.600000,RayTracingTranslucencyRefractionRays=3,RayTracingTranslucencySamplesPerPixel=1,RayTracingTranslucencyMaxPrimaryHitEvents=4,RayTracingTranslucencyMaxSecondaryHitEvents=2,RayTracingTranslucencyShadows=Hard_shadows,RayTracingTranslucencyRefraction=True,RayTracingTranslucencyUseRayTracedRefraction=False,PathTracingMaxBounces=32,PathTracingSamplesPerPixel=2048,PathTracingMaxPathIntensity=24.000000,PathTracingEnableEmissiveMaterials=True,PathTracingEnableReferenceDOF=False,PathTracingEnableReferenceAtmosphere=False,PathTracingEnableDenoiser=True,PathTracingIncludeEmissive=True,PathTracingIncludeDiffuse=True,PathTracingIncludeIndirectDiffuse=True,PathTracingIncludeSpecular=True,PathTracingIncludeIndirectSpecular=True,PathTracingIncludeVolume=True,PathTracingIncludeIndirectVolume=True,UserFlags=0,WeightedBlendables=(Array=)),LightingRigRotation=0.000000,RotationSpeed=2.000000,DirectionalLightRotation=(Pitch=-40.000000,Yaw=-67.500000,Roll=0.000000),bEnableToneMapping=False,bShowMeshEdges=True) ++Profiles=(ProfileName="Grey Ambient",bSharedProfile=True,bIsEngineDefaultProfile=True,bUseSkyLighting=True,DirectionalLightIntensity=4.000000,DirectionalLightColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SkyLightIntensity=2.000000,bRotateLightingRig=False,bShowEnvironment=False,bShowFloor=True,bShowGrid=True,EnvironmentColor=(R=0.200000,G=0.200000,B=0.200000,A=1.000000),EnvironmentIntensity=1.000000,EnvironmentCubeMapPath="/Engine/EditorMaterials/AssetViewer/T_GreyAmbient",bPostProcessingEnabled=True,PostProcessingSettings=(bOverride_TemperatureType=False,bOverride_WhiteTemp=False,bOverride_WhiteTint=False,bOverride_ColorSaturation=False,bOverride_ColorContrast=False,bOverride_ColorGamma=False,bOverride_ColorGain=False,bOverride_ColorOffset=False,bOverride_ColorSaturationShadows=False,bOverride_ColorContrastShadows=False,bOverride_ColorGammaShadows=False,bOverride_ColorGainShadows=False,bOverride_ColorOffsetShadows=False,bOverride_ColorSaturationMidtones=False,bOverride_ColorContrastMidtones=False,bOverride_ColorGammaMidtones=False,bOverride_ColorGainMidtones=False,bOverride_ColorOffsetMidtones=False,bOverride_ColorSaturationHighlights=False,bOverride_ColorContrastHighlights=False,bOverride_ColorGammaHighlights=False,bOverride_ColorGainHighlights=False,bOverride_ColorOffsetHighlights=False,bOverride_ColorCorrectionShadowsMax=False,bOverride_ColorCorrectionHighlightsMin=False,bOverride_ColorCorrectionHighlightsMax=False,bOverride_BlueCorrection=False,bOverride_ExpandGamut=False,bOverride_ToneCurveAmount=False,bOverride_FilmSlope=False,bOverride_FilmToe=False,bOverride_FilmShoulder=False,bOverride_FilmBlackClip=False,bOverride_FilmWhiteClip=False,bOverride_SceneColorTint=False,bOverride_SceneFringeIntensity=False,bOverride_ChromaticAberrationStartOffset=False,bOverride_bMegaLights=False,bOverride_AmbientCubemapTint=False,bOverride_AmbientCubemapIntensity=False,bOverride_BloomMethod=False,bOverride_BloomIntensity=False,bOverride_BloomGaussianIntensity=False,bOverride_BloomThreshold=False,bOverride_Bloom1Tint=False,bOverride_Bloom1Size=False,bOverride_Bloom2Size=False,bOverride_Bloom2Tint=False,bOverride_Bloom3Tint=False,bOverride_Bloom3Size=False,bOverride_Bloom4Tint=False,bOverride_Bloom4Size=False,bOverride_Bloom5Tint=False,bOverride_Bloom5Size=False,bOverride_Bloom6Tint=False,bOverride_Bloom6Size=False,bOverride_BloomSizeScale=False,bOverride_BloomConvolutionIntensity=False,bOverride_BloomConvolutionTexture=False,bOverride_BloomConvolutionScatterDispersion=False,bOverride_BloomConvolutionSize=False,bOverride_BloomConvolutionCenterUV=False,bOverride_BloomConvolutionPreFilterMin=False,bOverride_BloomConvolutionPreFilterMax=False,bOverride_BloomConvolutionPreFilterMult=False,bOverride_BloomConvolutionBufferScale=False,bOverride_BloomDirtMaskIntensity=False,bOverride_BloomDirtMaskTint=False,bOverride_BloomDirtMask=False,bOverride_CameraShutterSpeed=False,bOverride_CameraISO=False,bOverride_AutoExposureMethod=False,bOverride_AutoExposureLowPercent=False,bOverride_AutoExposureHighPercent=False,bOverride_AutoExposureMinBrightness=False,bOverride_AutoExposureMaxBrightness=False,bOverride_AutoExposureSpeedUp=False,bOverride_AutoExposureSpeedDown=False,bOverride_AutoExposureBias=False,bOverride_AutoExposureBiasCurve=False,bOverride_AutoExposureMeterMask=False,bOverride_AutoExposureApplyPhysicalCameraExposure=False,bOverride_HistogramLogMin=False,bOverride_HistogramLogMax=False,bOverride_LocalExposureMethod=False,bOverride_LocalExposureHighlightContrastScale=False,bOverride_LocalExposureShadowContrastScale=False,bOverride_LocalExposureHighlightContrastCurve=False,bOverride_LocalExposureShadowContrastCurve=False,bOverride_LocalExposureHighlightThreshold=False,bOverride_LocalExposureShadowThreshold=False,bOverride_LocalExposureDetailStrength=False,bOverride_LocalExposureBlurredLuminanceBlend=False,bOverride_LocalExposureBlurredLuminanceKernelSizePercent=False,bOverride_LocalExposureHighlightThresholdStrength=False,bOverride_LocalExposureShadowThresholdStrength=False,bOverride_LocalExposureMiddleGreyBias=False,bOverride_LensFlareIntensity=False,bOverride_LensFlareTint=False,bOverride_LensFlareTints=False,bOverride_LensFlareBokehSize=False,bOverride_LensFlareBokehShape=False,bOverride_LensFlareThreshold=False,bOverride_VignetteIntensity=False,bOverride_Sharpen=False,bOverride_FilmGrainIntensity=False,bOverride_FilmGrainIntensityShadows=False,bOverride_FilmGrainIntensityMidtones=False,bOverride_FilmGrainIntensityHighlights=False,bOverride_FilmGrainShadowsMax=False,bOverride_FilmGrainHighlightsMin=False,bOverride_FilmGrainHighlightsMax=False,bOverride_FilmGrainTexelSize=False,bOverride_FilmGrainTexture=False,bOverride_AmbientOcclusionIntensity=False,bOverride_AmbientOcclusionStaticFraction=False,bOverride_AmbientOcclusionRadius=False,bOverride_AmbientOcclusionFadeDistance=False,bOverride_AmbientOcclusionFadeRadius=False,bOverride_AmbientOcclusionRadiusInWS=False,bOverride_AmbientOcclusionPower=False,bOverride_AmbientOcclusionBias=False,bOverride_AmbientOcclusionQuality=False,bOverride_AmbientOcclusionMipBlend=False,bOverride_AmbientOcclusionMipScale=False,bOverride_AmbientOcclusionMipThreshold=False,bOverride_AmbientOcclusionTemporalBlendWeight=False,bOverride_RayTracingAO=False,bOverride_RayTracingAOSamplesPerPixel=False,bOverride_RayTracingAOIntensity=False,bOverride_RayTracingAORadius=False,bOverride_IndirectLightingColor=False,bOverride_IndirectLightingIntensity=False,bOverride_ColorGradingIntensity=False,bOverride_ColorGradingLUT=False,bOverride_DepthOfFieldFocalDistance=False,bOverride_DepthOfFieldFstop=False,bOverride_DepthOfFieldMinFstop=False,bOverride_DepthOfFieldBladeCount=False,bOverride_DepthOfFieldSensorWidth=False,bOverride_DepthOfFieldSqueezeFactor=False,bOverride_DepthOfFieldDepthBlurRadius=False,bOverride_DepthOfFieldUseHairDepth=False,bOverride_DepthOfFieldPetzvalBokeh=False,bOverride_DepthOfFieldPetzvalBokehFalloff=False,bOverride_DepthOfFieldPetzvalExclusionBoxExtents=False,bOverride_DepthOfFieldPetzvalExclusionBoxRadius=False,bOverride_DepthOfFieldAspectRatioScalar=False,bOverride_DepthOfFieldMatteBoxFlags=False,bOverride_DepthOfFieldBarrelRadius=False,bOverride_DepthOfFieldBarrelLength=False,bOverride_DepthOfFieldDepthBlurAmount=False,bOverride_DepthOfFieldFocalRegion=False,bOverride_DepthOfFieldNearTransitionRegion=False,bOverride_DepthOfFieldFarTransitionRegion=False,bOverride_DepthOfFieldScale=False,bOverride_DepthOfFieldNearBlurSize=False,bOverride_DepthOfFieldFarBlurSize=False,bOverride_MobileHQGaussian=False,bOverride_DepthOfFieldOcclusion=False,bOverride_DepthOfFieldSkyFocusDistance=False,bOverride_DepthOfFieldVignetteSize=False,bOverride_MotionBlurAmount=False,bOverride_MotionBlurMax=False,bOverride_MotionBlurTargetFPS=False,bOverride_MotionBlurPerObjectSize=False,bOverride_ReflectionMethod=False,bOverride_LumenReflectionQuality=False,bOverride_ScreenSpaceReflectionIntensity=False,bOverride_ScreenSpaceReflectionQuality=False,bOverride_ScreenSpaceReflectionMaxRoughness=False,bOverride_ScreenSpaceReflectionRoughnessScale=False,bOverride_UserFlags=False,bOverride_RayTracingReflectionsMaxRoughness=False,bOverride_RayTracingReflectionsMaxBounces=False,bOverride_RayTracingReflectionsSamplesPerPixel=False,bOverride_RayTracingReflectionsShadows=False,bOverride_RayTracingReflectionsTranslucency=False,bOverride_TranslucencyType=False,bOverride_RayTracingTranslucencyMaxRoughness=False,bOverride_RayTracingTranslucencyRefractionRays=False,bOverride_RayTracingTranslucencySamplesPerPixel=False,bOverride_RayTracingTranslucencyShadows=False,bOverride_RayTracingTranslucencyRefraction=False,bOverride_RayTracingTranslucencyMaxPrimaryHitEvents=False,bOverride_RayTracingTranslucencyMaxSecondaryHitEvents=False,bOverride_RayTracingTranslucencyUseRayTracedRefraction=False,bOverride_DynamicGlobalIlluminationMethod=False,bOverride_LumenSceneLightingQuality=False,bOverride_LumenSceneDetail=False,bOverride_LumenSceneViewDistance=False,bOverride_LumenSceneLightingUpdateSpeed=False,bOverride_LumenFinalGatherQuality=False,bOverride_LumenFinalGatherLightingUpdateSpeed=False,bOverride_LumenFinalGatherScreenTraces=False,bOverride_LumenMaxTraceDistance=False,bOverride_LumenDiffuseColorBoost=False,bOverride_LumenSkylightLeaking=False,bOverride_LumenSkylightLeakingTint=False,bOverride_LumenFullSkylightLeakingDistance=False,bOverride_LumenRayLightingMode=False,bOverride_LumenReflectionsScreenTraces=False,bOverride_LumenFrontLayerTranslucencyReflections=False,bOverride_LumenMaxRoughnessToTraceReflections=False,bOverride_LumenMaxReflectionBounces=False,bOverride_LumenMaxRefractionBounces=False,bOverride_LumenSurfaceCacheResolution=False,bOverride_RayTracingGI=False,bOverride_RayTracingGIMaxBounces=False,bOverride_RayTracingGISamplesPerPixel=False,bOverride_PathTracingMaxBounces=False,bOverride_PathTracingSamplesPerPixel=False,bOverride_PathTracingMaxPathIntensity=False,bOverride_PathTracingEnableEmissiveMaterials=False,bOverride_PathTracingEnableReferenceDOF=False,bOverride_PathTracingEnableReferenceAtmosphere=False,bOverride_PathTracingEnableDenoiser=False,bOverride_PathTracingIncludeEmissive=False,bOverride_PathTracingIncludeDiffuse=False,bOverride_PathTracingIncludeIndirectDiffuse=False,bOverride_PathTracingIncludeSpecular=False,bOverride_PathTracingIncludeIndirectSpecular=False,bOverride_PathTracingIncludeVolume=False,bOverride_PathTracingIncludeIndirectVolume=False,bMobileHQGaussian=False,BloomMethod=BM_SOG,AutoExposureMethod=AEM_Histogram,TemperatureType=TEMP_WhiteBalance,WhiteTemp=6500.000000,WhiteTint=0.000000,ColorSaturation=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrast=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGamma=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGain=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffset=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainShadows=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetShadows=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainMidtones=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetMidtones=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorSaturationHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorContrastHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGammaHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorGainHighlights=(X=1.000000,Y=1.000000,Z=1.000000,W=1.000000),ColorOffsetHighlights=(X=0.000000,Y=0.000000,Z=0.000000,W=0.000000),ColorCorrectionHighlightsMin=0.500000,ColorCorrectionHighlightsMax=1.000000,ColorCorrectionShadowsMax=0.090000,BlueCorrection=0.600000,ExpandGamut=1.000000,ToneCurveAmount=1.000000,FilmSlope=0.880000,FilmToe=0.550000,FilmShoulder=0.260000,FilmBlackClip=0.000000,FilmWhiteClip=0.040000,SceneColorTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),SceneFringeIntensity=0.000000,ChromaticAberrationStartOffset=0.000000,BloomIntensity=0.675000,BloomGaussianIntensity=1.000000,BloomThreshold=-1.000000,BloomSizeScale=4.000000,Bloom1Size=0.300000,Bloom2Size=1.000000,Bloom3Size=2.000000,Bloom4Size=10.000000,Bloom5Size=30.000000,Bloom6Size=64.000000,Bloom1Tint=(R=0.346500,G=0.346500,B=0.346500,A=1.000000),Bloom2Tint=(R=0.138000,G=0.138000,B=0.138000,A=1.000000),Bloom3Tint=(R=0.117600,G=0.117600,B=0.117600,A=1.000000),Bloom4Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom5Tint=(R=0.066000,G=0.066000,B=0.066000,A=1.000000),Bloom6Tint=(R=0.061000,G=0.061000,B=0.061000,A=1.000000),BloomConvolutionIntensity=1.000000,BloomConvolutionScatterDispersion=1.000000,BloomConvolutionSize=1.000000,BloomConvolutionTexture=None,BloomConvolutionCenterUV=(X=0.500000,Y=0.500000),BloomConvolutionPreFilterMin=7.000000,BloomConvolutionPreFilterMax=15000.000000,BloomConvolutionPreFilterMult=15.000000,BloomConvolutionBufferScale=0.133000,BloomDirtMask=None,BloomDirtMaskIntensity=0.000000,BloomDirtMaskTint=(R=0.500000,G=0.500000,B=0.500000,A=1.000000),DynamicGlobalIlluminationMethod=Lumen,IndirectLightingColor=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),IndirectLightingIntensity=1.000000,LumenRayLightingMode=Default,LumenSceneLightingQuality=1.000000,LumenSceneDetail=1.000000,LumenSceneViewDistance=20000.000000,LumenSceneLightingUpdateSpeed=1.000000,LumenFinalGatherQuality=1.000000,LumenFinalGatherLightingUpdateSpeed=1.000000,LumenFinalGatherScreenTraces=True,LumenMaxTraceDistance=20000.000000,LumenDiffuseColorBoost=1.000000,LumenSkylightLeaking=0.000000,LumenSkylightLeakingTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),LumenFullSkylightLeakingDistance=1000.000000,LumenSurfaceCacheResolution=1.000000,ReflectionMethod=Lumen,LumenReflectionQuality=1.000000,LumenReflectionsScreenTraces=True,LumenFrontLayerTranslucencyReflections=False,LumenMaxRoughnessToTraceReflections=0.400000,LumenMaxReflectionBounces=1,LumenMaxRefractionBounces=0,ScreenSpaceReflectionIntensity=100.000000,ScreenSpaceReflectionQuality=50.000000,ScreenSpaceReflectionMaxRoughness=0.600000,bMegaLights=True,AmbientCubemapTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),AmbientCubemapIntensity=1.000000,AmbientCubemap=None,CameraShutterSpeed=60.000000,CameraISO=100.000000,DepthOfFieldFstop=4.000000,DepthOfFieldMinFstop=1.200000,DepthOfFieldBladeCount=5,AutoExposureBias=1.000000,AutoExposureBiasBackup=0.000000,bOverride_AutoExposureBiasBackup=False,AutoExposureApplyPhysicalCameraExposure=True,AutoExposureBiasCurve=None,AutoExposureMeterMask=None,AutoExposureLowPercent=10.000000,AutoExposureHighPercent=90.000000,AutoExposureMinBrightness=0.030000,AutoExposureMaxBrightness=8.000000,AutoExposureSpeedUp=3.000000,AutoExposureSpeedDown=1.000000,HistogramLogMin=-8.000000,HistogramLogMax=4.000000,LocalExposureMethod=Bilateral,LocalExposureHighlightContrastScale=1.000000,LocalExposureShadowContrastScale=1.000000,LocalExposureHighlightContrastCurve=None,LocalExposureShadowContrastCurve=None,LocalExposureHighlightThreshold=0.000000,LocalExposureShadowThreshold=0.000000,LocalExposureDetailStrength=1.000000,LocalExposureBlurredLuminanceBlend=0.600000,LocalExposureBlurredLuminanceKernelSizePercent=50.000000,LocalExposureHighlightThresholdStrength=1.000000,LocalExposureShadowThresholdStrength=1.000000,LocalExposureMiddleGreyBias=0.000000,LensFlareIntensity=1.000000,LensFlareTint=(R=1.000000,G=1.000000,B=1.000000,A=1.000000),LensFlareBokehSize=3.000000,LensFlareThreshold=8.000000,LensFlareBokehShape=None,LensFlareTints[0]=(R=1.000000,G=0.800000,B=0.400000,A=0.600000),LensFlareTints[1]=(R=1.000000,G=1.000000,B=0.600000,A=0.530000),LensFlareTints[2]=(R=0.800000,G=0.800000,B=1.000000,A=0.460000),LensFlareTints[3]=(R=0.500000,G=1.000000,B=0.400000,A=0.390000),LensFlareTints[4]=(R=0.500000,G=0.800000,B=1.000000,A=0.310000),LensFlareTints[5]=(R=0.900000,G=1.000000,B=0.800000,A=0.270000),LensFlareTints[6]=(R=1.000000,G=0.800000,B=0.400000,A=0.220000),LensFlareTints[7]=(R=0.900000,G=0.700000,B=0.700000,A=0.150000),VignetteIntensity=0.400000,Sharpen=0.000000,FilmGrainIntensity=0.000000,FilmGrainIntensityShadows=1.000000,FilmGrainIntensityMidtones=1.000000,FilmGrainIntensityHighlights=1.000000,FilmGrainShadowsMax=0.090000,FilmGrainHighlightsMin=0.500000,FilmGrainHighlightsMax=1.000000,FilmGrainTexelSize=1.000000,FilmGrainTexture=None,AmbientOcclusionIntensity=0.500000,AmbientOcclusionStaticFraction=1.000000,AmbientOcclusionRadius=200.000000,AmbientOcclusionRadiusInWS=False,AmbientOcclusionFadeDistance=8000.000000,AmbientOcclusionFadeRadius=5000.000000,AmbientOcclusionPower=2.000000,AmbientOcclusionBias=3.000000,AmbientOcclusionQuality=50.000000,AmbientOcclusionMipBlend=0.600000,AmbientOcclusionMipScale=1.700000,AmbientOcclusionMipThreshold=0.010000,AmbientOcclusionTemporalBlendWeight=0.100000,RayTracingAO=False,RayTracingAOSamplesPerPixel=1,RayTracingAOIntensity=1.000000,RayTracingAORadius=200.000000,ColorGradingIntensity=1.000000,ColorGradingLUT=None,DepthOfFieldSensorWidth=24.576000,DepthOfFieldSqueezeFactor=1.000000,DepthOfFieldFocalDistance=0.000000,DepthOfFieldDepthBlurAmount=1.000000,DepthOfFieldDepthBlurRadius=0.000000,DepthOfFieldUseHairDepth=False,DepthOfFieldPetzvalBokeh=0.000000,DepthOfFieldPetzvalBokehFalloff=1.000000,DepthOfFieldPetzvalExclusionBoxExtents=(X=0.000000,Y=0.000000),DepthOfFieldPetzvalExclusionBoxRadius=0.000000,DepthOfFieldAspectRatioScalar=1.000000,DepthOfFieldBarrelRadius=5.000000,DepthOfFieldBarrelLength=0.000000,DepthOfFieldMatteBoxFlags[0]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[1]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldMatteBoxFlags[2]=(Pitch=0.000000,Roll=0.000000,Length=0.000000),DepthOfFieldFocalRegion=0.000000,DepthOfFieldNearTransitionRegion=300.000000,DepthOfFieldFarTransitionRegion=500.000000,DepthOfFieldScale=0.000000,DepthOfFieldNearBlurSize=15.000000,DepthOfFieldFarBlurSize=15.000000,DepthOfFieldOcclusion=0.400000,DepthOfFieldSkyFocusDistance=0.000000,DepthOfFieldVignetteSize=200.000000,MotionBlurAmount=0.500000,MotionBlurMax=5.000000,MotionBlurTargetFPS=30,MotionBlurPerObjectSize=0.000000,TranslucencyType=Raster,RayTracingTranslucencyMaxRoughness=0.600000,RayTracingTranslucencyRefractionRays=3,RayTracingTranslucencySamplesPerPixel=1,RayTracingTranslucencyMaxPrimaryHitEvents=4,RayTracingTranslucencyMaxSecondaryHitEvents=2,RayTracingTranslucencyShadows=Hard_shadows,RayTracingTranslucencyRefraction=True,RayTracingTranslucencyUseRayTracedRefraction=False,PathTracingMaxBounces=32,PathTracingSamplesPerPixel=2048,PathTracingMaxPathIntensity=24.000000,PathTracingEnableEmissiveMaterials=True,PathTracingEnableReferenceDOF=False,PathTracingEnableReferenceAtmosphere=False,PathTracingEnableDenoiser=True,PathTracingIncludeEmissive=True,PathTracingIncludeDiffuse=True,PathTracingIncludeIndirectDiffuse=True,PathTracingIncludeSpecular=True,PathTracingIncludeIndirectSpecular=True,PathTracingIncludeVolume=True,PathTracingIncludeIndirectVolume=True,UserFlags=0,WeightedBlendables=(Array=)),LightingRigRotation=0.000000,RotationSpeed=2.000000,DirectionalLightRotation=(Pitch=-40.000000,Yaw=-67.500000,Roll=0.000000),bEnableToneMapping=False,bShowMeshEdges=False) diff --git a/Unreal/Environments/Blocks/Config/DefaultEngine.ini b/Unreal/Environments/Blocks/Config/DefaultEngine.ini index 2a01d0ef6..ffddffc96 100644 --- a/Unreal/Environments/Blocks/Config/DefaultEngine.ini +++ b/Unreal/Environments/Blocks/Config/DefaultEngine.ini @@ -124,6 +124,7 @@ r.Lumen.HardwareRayTracing=True r.Shadow.Virtual.Enable=1 r.Nanite.ProjectEnabled=True r.Vulkan.RayTracing=True +r.Nanite.Foliage=True [/Script/LinuxTargetPlatform.LinuxTargetSettings] SpatializationPlugin= diff --git a/Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap b/Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap index d3d90e293ab3db308b4efb2a014cb22a5eed92db..ddf9b134e1756216868ab58fc3aeb8477b55ad54 100644 GIT binary patch delta 258258 zcmeEv2b>&b`TuUHp(dn~1V|_ea3Qz-cBz@|y_dVCgl)IIm)kp(6A%Rz1rAscl%f<7 z5e#CXD0W5cD2j?GDj-U+fc}4&|MSky?9NTOeV1_F`f=aSJ-0LSexJ8~=XvYQyzejf zExZ24hn5*0yX54LzP@MAp7Zw+i4IyO68#H)k$YG4(A&@b>|N)+U~`TA?1;x+ed+3d 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z4bq9_fg8y7(@E`mj%>_#(qabY6HMeSk-~9~K750)6plqIQ!nB?*o3$M<`PZdr$l2| zjyM-SL9~Sx%yJ;~6yhP$P(n{aP?8=mO?9Pr43Pcu^t}cx`%wB`GkZz_kP{mzO`keU z*O5{o+@_`y9>0RaYEDUat#GA_`V}h+&^i{SnN#fR?9w`O&KKc#O7tvB?ThleIpHQX zT}^jh*u{(aAzq>tb7w)TE--ZvsWyB7a)YC{6nctgWq` zq(^^tDS<>;G?EM$Q_gG@a<_f$FH)@R$B}%cmO(`$zx%ki(dNbiWY^?!UTEFY!KkA`5@Q meQ%1>0(yZdZ`zCh>HfE&pbnzp%|bf>IZ|DK(Sfmxo&E&?+G=nB diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp index 79db69887..36845b8db 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.cpp @@ -518,6 +518,37 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxyNaniteSkeletal(USkel return ::new FNaniteSkeletalAnnotationSceneProxy(SkeletalMeshComponent, this, SkelMeshRenderData, AnnotationMID); } +FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxyNaniteInstancedSkeletal(USkinnedMeshComponent* InstancedMeshComponent) +{ + FSkeletalMeshRenderData* SkelMeshRenderData = InstancedMeshComponent->GetSkeletalMeshRenderData(); + if (!SkelMeshRenderData || SkelMeshRenderData->LODRenderData.Num() == 0) + { + UE_LOG(LogTemp, Warning, TEXT("AirSim Annotation: Nanite instanced skinned proxy creation skipped for %s - render data not ready"), + *InstancedMeshComponent->GetName()); + return nullptr; + } + if (!IsValid(AnnotationMID)) + { + return nullptr; + } + // MeshObject must be valid — it's set up by the component's CreateRenderState_Concurrent. + // If null, the render state hasn't been created yet; return nullptr and rely on TickComponent to retry. + if (!InstancedMeshComponent->MeshObject) + { + return nullptr; + } + const USkeletalMesh* SkeletalMeshAsset = Cast(InstancedMeshComponent->GetSkinnedAsset()); + if (!SkeletalMeshAsset || !SkeletalMeshAsset->IsNaniteEnabled()) + { + UE_LOG(LogTemp, Verbose, TEXT("AirSim Annotation: Skipping non-Nanite instanced skinned mesh %s"), *InstancedMeshComponent->GetName()); + return nullptr; + } + UE_LOG(LogTemp, Verbose, TEXT("AirSim Annotation: Creating Nanite instanced skeletal annotation proxy for %s"), *InstancedMeshComponent->GetName()); + // Share the existing MeshObject (already set up by the component's CreateRenderState_Concurrent) + // via FSkinnedMeshSceneProxyDesc. This means all instances' skinning data is available to Nanite. + return ::new FNaniteSkeletalAnnotationSceneProxy(InstancedMeshComponent, this, SkelMeshRenderData, AnnotationMID); +} + FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy(UStaticMeshComponent* StaticMeshComponent) { UMaterialInterface* ProxyMaterial = AnnotationMID; // Material Instance Dynamic @@ -571,12 +602,23 @@ FPrimitiveSceneProxy* UAnnotationComponent::CreateSceneProxy() UStaticMeshComponent* StaticMeshComponent = Cast(ParentComponent); USkeletalMeshComponent* SkeletalMeshComponent = Cast(ParentComponent); + // UInstancedSkinnedMeshComponent inherits from USkinnedMeshComponent but NOT USkeletalMeshComponent. + // We detect it without including its experimental header (which causes C3837 on MSVC) by checking + // that the component is a USkinnedMeshComponent but not a USkeletalMeshComponent. + USkinnedMeshComponent* SkinnedMeshComponent = Cast(ParentComponent); + const bool bIsInstancedSkinnedMesh = IsValid(SkinnedMeshComponent) && !IsValid(SkeletalMeshComponent); if (IsValid(StaticMeshComponent)) { bSkeletalMesh = false; return CreateSceneProxy(StaticMeshComponent); } + else if (bIsInstancedSkinnedMesh) + { + FPrimitiveSceneProxy* Proxy = CreateSceneProxyNaniteInstancedSkeletal(SkinnedMeshComponent); + bSkeletalMesh = (Proxy != nullptr); + return Proxy; + } else if (IsValid(SkeletalMeshComponent)) { FPrimitiveSceneProxy* Proxy = CreateSceneProxy(SkeletalMeshComponent); @@ -609,7 +651,7 @@ FBoxSphereBounds UAnnotationComponent::CalcBounds(const FTransform & LocalToWorl return StaticMeshComponent->CalcBounds(LocalToWorld); } - USkeletalMeshComponent* SkinnedMeshComponent = Cast(Parent); + USkinnedMeshComponent* SkinnedMeshComponent = Cast(Parent); if (IsValid(SkinnedMeshComponent)) { return SkinnedMeshComponent->CalcBounds(LocalToWorld); @@ -633,10 +675,11 @@ void UAnnotationComponent::TickComponent( if (bSkeletalMesh) { USceneComponent* ParentComponent = this->GetAttachParent(); - USkeletalMeshComponent* SkeletalMeshComponent = Cast(ParentComponent); - if (SkeletalMeshComponent) + // Use USkinnedMeshComponent to cover both USkeletalMeshComponent and UInstancedSkinnedMeshComponent + USkinnedMeshComponent* SkinnedMeshComponent = Cast(ParentComponent); + if (SkinnedMeshComponent) { - // Update render state for both regular and Nanite skeletal meshes + // Update render state for regular, Nanite, and instanced skeletal meshes // This ensures animations and deformations are properly synced MarkRenderStateDirty(); } diff --git a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h index 893188af1..9196c966b 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h +++ b/Unreal/Plugins/AirSim/Source/Annotation/AnnotationComponent.h @@ -18,7 +18,6 @@ #include "AnnotationComponent.generated.h" - // TODO: Might need to annotate every frame if there are new actors got spawned /** A proxy component class to render annotation color * Should be attached to a MeshComponent to provide annotation color for AnnotationCamSensor @@ -91,4 +90,5 @@ class AIRSIM_API UAnnotationComponent : public UPrimitiveComponent FPrimitiveSceneProxy* CreateSceneProxy(UStaticMeshComponent* StaticMeshComponent); FPrimitiveSceneProxy* CreateSceneProxy(USkeletalMeshComponent* SkeletalMeshComponent); FPrimitiveSceneProxy* CreateSceneProxyNaniteSkeletal(USkeletalMeshComponent* SkeletalMeshComponent); + FPrimitiveSceneProxy* CreateSceneProxyNaniteInstancedSkeletal(USkinnedMeshComponent* InstancedMeshComponent); }; From ecc987b24c153e66671231c9c843a4e60f3f1d3b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Tue, 19 May 2026 17:04:33 +0200 Subject: [PATCH 34/70] update --- .gitignore | 1 + Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp | 4 ++++ 2 files changed, 5 insertions(+) diff --git a/.gitignore b/.gitignore index 7e8fafbc1..0f7c73fbe 100644 --- a/.gitignore +++ b/.gitignore @@ -402,3 +402,4 @@ PythonClient/docs/_build /Unreal/Environments/BlocksComp/ docker/LinuxBlocks/* /cosys-airsim-data-scripts/ +CLAUDE.md \ No newline at end of file diff --git a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp index 37e94f93a..b6708d75b 100644 --- a/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp +++ b/Unreal/Plugins/AirSim/Source/Annotation/ObjectAnnotator.cpp @@ -1185,7 +1185,9 @@ void FObjectAnnotator::UpdateAnnotationComponents(UWorld* World) for (UObject* Object : UObjectList) { + if (!IsValid(Object)) continue; UPrimitiveComponent* Component = Cast(Object); + if (!Component) continue; FName componentFName = *Component->GetName(); FString componentName = componentFName.ToString(); if (Component->GetWorld() == World @@ -1248,7 +1250,9 @@ void FObjectAnnotator::EndPlay() { GetObjectsOfClass(UAnnotationComponent::StaticClass(), UObjectList, bIncludeDerivedClasses, ExclusionFlags, ExclusionInternalFlags); for (UObject* Object : UObjectList) { + if (!IsValid(Object)) continue; UPrimitiveComponent* Component = Cast(Object); + if (!Component) continue; FName componentFName = *Component->GetName(); FString componentName = componentFName.ToString(); if (componentName.Contains(name_)) From 83377f1348ee9329aa879adc42390adb083b5b67 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 09:50:04 +0200 Subject: [PATCH 35/70] 5.8 engine compatibility --- Unreal/Plugins/AirSim/Source/RenderRequest.cpp | 2 +- Unreal/Plugins/AirSim/Source/RenderRequest.h | 12 +----------- 2 files changed, 2 insertions(+), 12 deletions(-) diff --git a/Unreal/Plugins/AirSim/Source/RenderRequest.cpp b/Unreal/Plugins/AirSim/Source/RenderRequest.cpp index 37fc93014..d325ab08f 100644 --- a/Unreal/Plugins/AirSim/Source/RenderRequest.cpp +++ b/Unreal/Plugins/AirSim/Source/RenderRequest.cpp @@ -109,7 +109,7 @@ void RenderRequest::getScreenshot(std::shared_ptr params[], std::v if (params[i]->render_target != nullptr && params[i]->render_component != nullptr) { if (!params[i]->pixels_as_float) { if (results[i]->width != 0 && results[i]->height != 0) { - results[i]->image_data_uint8.SetNumUninitialized(results[i]->width * results[i]->height * 3, false); + results[i]->image_data_uint8.SetNumUninitialized(results[i]->width * results[i]->height * 3, EAllowShrinking::No); if (params[i]->compress) UAirBlueprintLib::CompressImageArray(results[i]->width, results[i]->height, results[i]->bmp, results[i]->image_data_uint8); else { diff --git a/Unreal/Plugins/AirSim/Source/RenderRequest.h b/Unreal/Plugins/AirSim/Source/RenderRequest.h index 3ae42d7de..51cd8459f 100644 --- a/Unreal/Plugins/AirSim/Source/RenderRequest.h +++ b/Unreal/Plugins/AirSim/Source/RenderRequest.h @@ -9,7 +9,7 @@ #include "common/Common.hpp" -class RenderRequest : public FRenderCommand +class RenderRequest { public: struct RenderParams { @@ -55,16 +55,6 @@ class RenderRequest : public FRenderCommand RenderRequest(UGameViewportClient * game_viewport, std::function&& query_camera_pose_cb); ~RenderRequest(); - void DoTask(ENamedThreads::Type CurrentThread, const FGraphEventRef& MyCompletionGraphEvent) - { - ExecuteTask(); - } - - FORCEINLINE TStatId GetStatId() const - { - RETURN_QUICK_DECLARE_CYCLE_STAT(RenderRequest, STATGROUP_RenderThreadCommands); - } - // read pixels from render target using render thread, then compress the result into PNG // argument on the thread that calls this method. void getScreenshot( From fa6d56ccc5dc2f19dee43b77b1e263c19418ddc3 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:14:51 +0200 Subject: [PATCH 36/70] Blocks 5.8 update --- Unreal/Environments/Blocks/Blocks.uproject | 2 +- Unreal/Environments/Blocks/Source/Blocks.Target.cs | 2 +- Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Unreal/Environments/Blocks/Blocks.uproject b/Unreal/Environments/Blocks/Blocks.uproject index bc0392ca5..e67c5cd9a 100644 --- a/Unreal/Environments/Blocks/Blocks.uproject +++ b/Unreal/Environments/Blocks/Blocks.uproject @@ -1,6 +1,6 @@ { "FileVersion": 3, - "EngineAssociation": "5.7", + "EngineAssociation": "5.8", "Category": "", "Description": "", "Modules": [ diff --git a/Unreal/Environments/Blocks/Source/Blocks.Target.cs b/Unreal/Environments/Blocks/Source/Blocks.Target.cs index 4858d9a9c..e19e2241d 100644 --- a/Unreal/Environments/Blocks/Source/Blocks.Target.cs +++ b/Unreal/Environments/Blocks/Source/Blocks.Target.cs @@ -7,7 +7,7 @@ public class BlocksTarget : TargetRules { public BlocksTarget(TargetInfo Target) : base(Target) { - DefaultBuildSettings = BuildSettingsVersion.V6; + DefaultBuildSettings = BuildSettingsVersion.V7; Type = TargetType.Game; ExtraModuleNames.AddRange(new string[] { "Blocks" }); //bUseUnityBuild = false; diff --git a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs index 3512ee2e4..740e05a96 100644 --- a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs +++ b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs @@ -7,7 +7,7 @@ public class BlocksEditorTarget : TargetRules { public BlocksEditorTarget(TargetInfo Target) : base(Target) { - DefaultBuildSettings = BuildSettingsVersion.V6; + DefaultBuildSettings = BuildSettingsVersion.V; Type = TargetType.Editor; ExtraModuleNames.AddRange(new string[] { "Blocks" }); IncludeOrderVersion = EngineIncludeOrderVersion.Latest; From 361d6c997417cbe3e56f3eafb897e7f9b1f0cc1b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:14:59 +0200 Subject: [PATCH 37/70] docker 5.8 update --- docker/Dockerfile_binary | 2 +- docker/Dockerfile_source | 2 +- docker/build_airsim_image.py | 4 ++-- docker/download_blocks_env_binary.sh | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/docker/Dockerfile_binary b/docker/Dockerfile_binary index 620219626..469f9dff0 100644 --- a/docker/Dockerfile_binary +++ b/docker/Dockerfile_binary @@ -1,4 +1,4 @@ -ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 +ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0 FROM $BASE_IMAGE USER root diff --git a/docker/Dockerfile_source b/docker/Dockerfile_source index 57d5cafeb..1206fac2b 100644 --- a/docker/Dockerfile_source +++ b/docker/Dockerfile_source @@ -1,4 +1,4 @@ -ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 +ARG BASE_IMAGE=ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0 FROM $BASE_IMAGE USER root diff --git a/docker/build_airsim_image.py b/docker/build_airsim_image.py index 2da1f54e3..338b124c5 100644 --- a/docker/build_airsim_image.py +++ b/docker/build_airsim_image.py @@ -13,7 +13,7 @@ def build_docker_image(args): dockerfile = 'Dockerfile_source' if args.source: if not args.base_image: - args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" + args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0" target_image_tag = args.base_image.split(":")[1] # take tag from base image if not args.target_image: args.target_image = 'airsim_source' + ':' + target_image_tag @@ -21,7 +21,7 @@ def build_docker_image(args): else: dockerfile = 'Dockerfile_binary' if not args.base_image: - args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1" + args.base_image = "ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0" target_image_tag = args.base_image.split(":")[1] # take tag from base image if not args.target_image: args.target_image = 'airsim_binary' + ':' + target_image_tag diff --git a/docker/download_blocks_env_binary.sh b/docker/download_blocks_env_binary.sh index 056ff9090..c121a7a93 100755 --- a/docker/download_blocks_env_binary.sh +++ b/docker/download_blocks_env_binary.sh @@ -5,7 +5,7 @@ if ! which unzip; then sudo apt-get install unzip fi -wget -c https://github.com/Cosys-Lab/Cosys-AirSim/releases/download/5.6-v3.4/Blocks_packaged_Linux_56_34.zip +wget -c https://github.com/Cosys-Lab/Cosys-AirSim/releases/download/5.8-v3.4/Blocks_packaged_Linux_58_34.zip unzip -q Blocks_packaged_Linux_56_34.zip rm Blocks_packaged_Linux_56_34.zip mv Blocks_packaged_Linux_56_34 LinuxBlocks From 2568a69bc1216c89fc08d5864b8c290ab99bb309 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:15:19 +0200 Subject: [PATCH 38/70] 3.4 update --- PythonClient/car/lights_test.py | 25 +++++++++ PythonClient/cosysairsim/__init__.py | 2 +- PythonClient/pyproject.toml | 2 +- .../segmentation/lighting_camera_test.py | 54 +++++++++++++++++++ 4 files changed, 81 insertions(+), 2 deletions(-) create mode 100644 PythonClient/car/lights_test.py create mode 100644 PythonClient/segmentation/lighting_camera_test.py diff --git a/PythonClient/car/lights_test.py b/PythonClient/car/lights_test.py new file mode 100644 index 000000000..45613ffc9 --- /dev/null +++ b/PythonClient/car/lights_test.py @@ -0,0 +1,25 @@ +import cosysairsim as airsim +import time + +client = airsim.CarClient() +client.confirmConnection() + +client.simSetWorldLightIntensity("worldlight1", 4) +time.sleep(5) +client.simSetWorldLightIntensity("worldlight1", 16) +time.sleep(5) +client.simSetWorldLightVisibility("worldlight1", False) +time.sleep(5) +client.simSetWorldLightVisibility("worldlight1", True) + +time.sleep(5) + +client.simSetVehicleLightIntensity("airsimvehicle", "vehiclelight1", 4) +time.sleep(5) +client.simSetVehicleLightIntensity("airsimvehicle", "vehiclelight1", 16) +time.sleep(5) +client.simSetVehicleLightVisibility("airsimvehicle", "vehiclelight1", False) +time.sleep(5) +client.simSetVehicleLightVisibility("airsimvehicle", "vehiclelight1", True) + +print("done") diff --git a/PythonClient/cosysairsim/__init__.py b/PythonClient/cosysairsim/__init__.py index 5f6f05464..b759d0dc2 100644 --- a/PythonClient/cosysairsim/__init__.py +++ b/PythonClient/cosysairsim/__init__.py @@ -2,4 +2,4 @@ from .utils import * from .types import * -__version__ = "3.3.0" +__version__ = "3.4.0" diff --git a/PythonClient/pyproject.toml b/PythonClient/pyproject.toml index b2f1b61de..7fae18745 100644 --- a/PythonClient/pyproject.toml +++ b/PythonClient/pyproject.toml @@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta" [project] name = "cosysairsim" -version = "3.3.0" +version = "3.4.0" description = "This package contains simple Python client for Cosys-AirSim. This integrates most API functions over RPC." readme = {file = "README.md", content-type = "text/markdown"} authors = [{ name = "Shital Shah", email = "shitals@microsoft.com" }, diff --git a/PythonClient/segmentation/lighting_camera_test.py b/PythonClient/segmentation/lighting_camera_test.py new file mode 100644 index 000000000..7068c9589 --- /dev/null +++ b/PythonClient/segmentation/lighting_camera_test.py @@ -0,0 +1,54 @@ +#!/usr/bin/env python + +import setup_path +import cosysairsim as airsim +import csv +import random +import numpy as np +from PIL import Image +from datetime import datetime +import matplotlib.pyplot as plt + + +if __name__ == '__main__': + + client = airsim.CarClient() + client.confirmConnection() + + responses = client.simGetImages([airsim.ImageRequest( "frontcamera", airsim.ImageType.Scene, False, False)]) + img_rgb_string = responses[0].image_data_uint8 + rgbarray = np.frombuffer(img_rgb_string, np.uint8) + rgbarray_shaped = rgbarray.reshape((540,960,3)) + # img = Image.fromarray(rgbarray_shaped, 'RGB') + # img.show() + + # 3. Create Figure and Subplots using Matplotlib + fig, axes = plt.subplots(1, 2, figsize=(15, 6)) # 1 row, 2 columns. Adjust figsize as needed. + + # Plot Scene Image + axes[0].imshow(rgbarray_shaped) + axes[0].set_title('Scene') + axes[0].axis('off') # Hide axes ticks and labels + + + responses = client.simGetImages([airsim.ImageRequest( "frontcamera", airsim.ImageType.Lighting, False, False)]) + img_rgb_string = responses[0].image_data_uint8 + rgbarray = np.frombuffer(img_rgb_string, np.uint8) + rgbarray_shaped = rgbarray.reshape((540,960,3)) + # img = Image.fromarray(rgbarray_shaped, 'RGB') + # img.show() + + + # Plot Lighting Image + axes[1].imshow(rgbarray_shaped) + axes[1].set_title('Lightning') # Changed from "Lighting" based on your prompt title request + axes[1].axis('off') # Hide axes ticks and labels + + # Adjust layout to prevent titles overlapping + plt.tight_layout() + + # Show the combined plot + plt.show() + + + From 62b46fa3cb4f62f36a4aea69992c6e8f59b50664 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:18:41 +0200 Subject: [PATCH 39/70] ros 5.8 update --- ros/python_ws/src/airsimros/package.xml | 2 +- .../src/fm_msgs/uwb_msgs/package.xml | 2 +- .../src/fm_msgs/wifi_msgs/package.xml | 2 +- ros2/src/airsim_interfaces/package.xml | 2 +- ros2/src/airsim_ros_pkgs/README.md | 306 +++++++++++++++++- ros2/src/airsim_ros_pkgs/package.xml | 2 +- 6 files changed, 310 insertions(+), 6 deletions(-) diff --git a/ros/python_ws/src/airsimros/package.xml b/ros/python_ws/src/airsimros/package.xml index 3989be440..d4c147f18 100644 --- a/ros/python_ws/src/airsimros/package.xml +++ b/ros/python_ws/src/airsimros/package.xml @@ -1,7 +1,7 @@ airsimros - 3.3.0 + 3.4.0 The airsim package diff --git a/ros/python_ws/src/fm_msgs/uwb_msgs/package.xml b/ros/python_ws/src/fm_msgs/uwb_msgs/package.xml index 633d07cd4..81cdce597 100644 --- a/ros/python_ws/src/fm_msgs/uwb_msgs/package.xml +++ b/ros/python_ws/src/fm_msgs/uwb_msgs/package.xml @@ -1,7 +1,7 @@ uwb_msgs - 3.3.0 + 3.4.0 The uwb_msgs package diff --git a/ros/python_ws/src/fm_msgs/wifi_msgs/package.xml b/ros/python_ws/src/fm_msgs/wifi_msgs/package.xml index b0ffe1c3a..1ff350766 100644 --- a/ros/python_ws/src/fm_msgs/wifi_msgs/package.xml +++ b/ros/python_ws/src/fm_msgs/wifi_msgs/package.xml @@ -1,7 +1,7 @@ wifi_msgs - 3.3.0 + 3.4.0 The wifi_msgs package diff --git a/ros2/src/airsim_interfaces/package.xml b/ros2/src/airsim_interfaces/package.xml index 68f359aaf..c0c867446 100644 --- a/ros2/src/airsim_interfaces/package.xml +++ b/ros2/src/airsim_interfaces/package.xml @@ -1,7 +1,7 @@ airsim_interfaces - 3.3.0 + 3.4.0 Custom messages for the Coys-AirSim ROS Wrapper. Wouter Jansen diff --git a/ros2/src/airsim_ros_pkgs/README.md b/ros2/src/airsim_ros_pkgs/README.md index 8fa1a623c..777f0df34 100755 --- a/ros2/src/airsim_ros_pkgs/README.md +++ b/ros2/src/airsim_ros_pkgs/README.md @@ -1,3 +1,307 @@ # airsim_ros_pkgs -This page has moved [here](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/docs/ros_cplusplus.md). \ No newline at end of file +A ROS2 wrapper over the Cosys-AirSim C++ client library. All coordinates and data are in the right-handed coordinate frame of the ROS standard and not in NED except for geo points. +The following was tested on Ubuntu 22.04 with ROS2 Iron. + +## Build + +- Build Cosys-AirSim as per the instructions. + +- Make sure that you have set up the environment variables for ROS. Add the `source` command to your `.bashrc` for convenience (replace `iron` with specific version name) - +```shell +echo "source /opt/ros/iron/setup.bash" >> ~/.bashrc +source ~/.bashrc +``` + +-- Install dependencies with rosdep, if not already installed - + +```shell +apt-get install python3-rosdep +sudo rosdep init +rosdep update +cd /ros2 +rosdep install --from-paths src -y --ignore-src --skip-keys pcl --skip-keys message_runtime --skip-keys message_generation +``` + +- Build ROS package + +```shell +colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release +``` + +## Running + +```shell +source install/setup.bash +ros2 launch airsim_ros_pkgs airsim_node.launch.py +``` + +## Using Cosys-Airsim ROS wrapper + +The ROS wrapper is composed of two ROS nodes - the first is a wrapper over Cosys-AirSim's multirotor C++ client library, and the second is a simple PD position controller. +Let's look at the ROS API for both nodes: + +### Cosys-Airsim ROS Wrapper Node + +#### Publishers: +The publishers will be automatically created based on the settings in the `settings.json` file for all vehicles and the sensors. + +- `/airsim_node/VEHICLE-NAME/car_state` [airsim_interfaces::CarState](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/CarState.msg) + The state of the car if the vehicle is of this sim-mode type. + +- `/airsim_node/VEHICLE-NAME/computervision_state` [airsim_interfaces::ComputerVisionState](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/ComputerVisionState.msg) + The state of the computer vision actor if the vehicle is of this sim-mode type. + +- `/airsim_node/origin_geo_point` [airsim_interfaces::GPSYaw](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/GPSYaw.msg) + GPS coordinates corresponding to global frame. This is set in the airsim's [settings.json](https://cosys-lab.github.io/Cosys-AirSim/settings/) file under the `OriginGeopoint` key. + +- `/airsim_node/VEHICLE-NAME/global_gps` [sensor_msgs::NavSatFix](https://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html) + This the current GPS coordinates of the drone in airsim. + +- `/airsim_node/VEHICLE-NAME/environment` [airsim_interfaces::Environment](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/Environment.msg) + +- `/airsim_node/VEHICLE-NAME/odom_local` [nav_msgs::Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) + Odometry frame (default name: odom_local, launch name and frame type are configurable) wrt take-off point. + +- `/airsim_node/VEHICLE-NAME/CAMERA-NAME_IMAGE-TYPE/camera_info` [sensor_msgs::CameraInfo](https://docs.ros.org/api/sensor_msgs/html/msg/CameraInfo.html) + Optionally if the image type is annotation the annotation layer name is also included in the topic name. + +- `/airsim_node/VEHICLE-NAME/CAMERA-NAME_IMAGE-TYPE/image` [sensor_msgs::Image](https://docs.ros.org/api/sensor_msgs/html/msg/Image.html) + RGB or float image depending on image type requested in settings.json. Optionally if the image type is annotation the annotation layer name is also included in the topic name. + +- `/tf` [tf2_msgs::TFMessage](https://docs.ros.org/api/tf2_msgs/html/msg/TFMessage.html) + +- `/airsim_node/VEHICLE-NAME/altimeter/SENSOR_NAME` [airsim_interfaces::Altimeter](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/Altimeter.msg) + This the current altimeter reading for altitude, pressure, and [QNH](https://en.wikipedia.org/wiki/QNH) + +- `/airsim_node/VEHICLE-NAME/imu/SENSOR_NAME` [sensor_msgs::Imu](http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html) + IMU sensor data. + +- `/airsim_node/VEHICLE-NAME/magnetometer/SENSOR_NAME` [sensor_msgs::MagneticField](http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html) + Measurement of magnetic field vector/compass. + +- `/airsim_node/VEHICLE-NAME/distance/SENSOR_NAME` [sensor_msgs::Range](http://docs.ros.org/api/sensor_msgs/html/msg/Range.html) + Measurement of distance from an active ranger, such as infrared or IR + +- `/airsim_node/VEHICLE-NAME/lidar/points/SENSOR_NAME/` [sensor_msgs::PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) + LIDAR pointcloud + +- `/airsim_node/VEHICLE-NAME/lidar/labels/SENSOR_NAME/` [airsim_interfaces::StringArray](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/StringArray.msg) + Custom message type with an array of string that are the labels for each point in the pointcloud of the lidar sensor + +- `/airsim_node/VEHICLE-NAME/gpulidar/points/SENSOR_NAME/` [sensor_msgs::PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) + GPU LIDAR pointcloud. The instance segmentation/annotation color data is stored in the rgb field of the pointcloud. The intensity data is stored as well in the intensity field + +- `/airsim_node/VEHICLE-NAME/echo/active/points/SENSOR_NAME/` [sensor_msgs::PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) + Echo sensor pointcloud for active sensing + +- `/airsim_node/VEHICLE-NAME/echo/passive/points/SENSOR_NAME/` [sensor_msgs::PointCloud2](http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html) + Echo sensor pointcloud for passive sensing + +- `/airsim_node/VEHICLE-NAME/echo/active/labels/SENSOR_NAME/` [airsim_interfaces::StringArray](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/StringArray.msg) + Custom message type with an array of string that are the labels for each point in the pointcloud for the active echo pointcloud + +- `/airsim_node/VEHICLE-NAME/echo/passive/labels/SENSOR_NAME/` [airsim_interfaces::StringArray](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/StringArray.msg) + Custom message type with an array of string that are the labels for each point in the pointcloud for the passive echo pointcloud + +- `/airsim_node/instance_segmentation_labels` [airsim_interfaces::InstanceSegmentationList](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/InstanceSegmentationList.msg) + Custom message type with an array of a custom messages that are the names, color and index of the instance segmentation system for each object in the world. + +- `/airsim_node/object_transforms` [airsim_interfaces::ObjectTransformsList](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/ObjectTransformsList.msg) + Custom message type with an array of [geometry_msgs::TransformStamped](http://docs.ros.org/api/geometry_msgs/html/msg/TransformStamped.html) that are the transforms of all objects in the world, each child frame ID is the object name. + +#### Subscribers: + +- `/airsim_node/VEHICLE-NAME/vel_cmd_body_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + +- `/airsim_node/VEHICLE-NAME/vel_cmd_world_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + +- `/airsim_node/all_robots/vel_cmd_body_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + Set velocity command for all drones. + +- `/airsim_node/all_robots/vel_cmd_world_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + +- `/airsim_node/group_of_robots/vel_cmd_body_frame` [airsim_interfaces::VelCmdGroup](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmdGroup.msg) + Set velocity command for a specific set of drones. +- +- `/airsim_node/group_of_robots/vel_cmd_world_frame` [airsim_interfaces::VelCmdGroup](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmdGroup.msg) + Set velocity command for a specific set of drones. + +- `/gimbal_angle_euler_cmd` [airsim_interfaces::GimbalAngleEulerCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/GimbalAngleEulerCmd.msg) + Gimbal set point in euler angles. + +- `/gimbal_angle_quat_cmd` [airsim_interfaces::GimbalAngleQuatCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg) + Gimbal set point in quaternion. + +- `/airsim_node/VEHICLE-NAME/car_cmd` [airsim_interfaces::CarControls](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/CarControls.msg) +Throttle, brake, steering and gear selections for control. Both automatic and manual transmission control possible, see the [`car_joy.py`](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros/src/airsim_ros_pkgs/scripts/car_joy) script for use. + +#### Services: + +- `/airsim_node/VEHICLE-NAME/land` [airsim_interfaces::Land](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/Land.html) + +- `/airsim_node/VEHICLE-NAME/takeoff` [airsim_interfaces::Takeoff](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/Takeoff.html) + +- `/airsim_node/all_robots/land` [airsim_interfaces::Land](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/Land.html) + land all drones + +- `/airsim_node/all_robots/takeoff` [airsim_interfaces::Takeoff](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/Takeoff.html) + take-off all drones + +- `/airsim_node/group_of_robots/land` [airsim_interfaces::LandGroup](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/LandGroup.html) + land a specific set of drones + +- `/airsim_node/group_of_robots/takeoff` [airsim_interfaces::TakeoffGroup](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/TakeoffGroup.html) + take-off a specific set of drones + +- `/airsim_node/reset` [airsim_interfaces::Reset](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/Reset.html) + Resets *all* vehicles + +- `/airsim_node/instance_segmentation_refresh` [airsim_interfaces::RefreshInstanceSegmentation](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/RefreshInstanceSegmentation.html) + Refresh the instance segmentation list + +- `/airsim_node/object_transforms_refresh` [airsim_interfaces::RefreshObjectTransforms](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/srv/RefreshObjectTransforms.html) + Refresh the object transforms list + + + +#### Parameters: + +- `/airsim_node/host_ip` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: localhost + The IP of the machine running the airsim RPC API server. + +- `/airsim_node/host_port` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 41451 + The port of the machine running the airsim RPC API server. + +- `/airsim_node/enable_api_control` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: false + Set the API control and arm the drones on startup. If not set to true no control is available. + +- `/airsim_node/enable_object_transforms_list` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: true + Retrieve the object transforms list from the airsim API at the start or with the service to refresh. If disabled this is not available but can save time on startup. + +- `/airsim_node/host_port` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 41451 + The port of the machine running the airsim RPC API server. + +- `/airsim_node/is_vulkan` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: True + If using Vulkan, the image encoding is switched from rgb8 to bgr8. + +- `/airsim_node/world_frame_id` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: world + +- `/airsim_node/odom_frame_id` [string] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: odom_local + +- `/airsim_node/update_airsim_control_every_n_sec` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 0.01 seconds. + Timer callback frequency for updating drone odom and state from airsim, and sending in control commands. + The current RPClib interface to unreal engine maxes out at 50 Hz. + Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. + +- `/airsim_node/update_airsim_img_response_every_n_sec` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 0.01 seconds. + Timer callback frequency for receiving images from all cameras in airsim. + The speed will depend on number of images requested and their resolution. + Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. + +- `/airsim_node/update_lidar_every_n_sec` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 0.01 seconds. + Timer callback frequency for receiving images from all Lidar data in airsim. + Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. + + +- `/airsim_node/update_gpulidar_every_n_sec` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 0.01 seconds. + Timer callback frequency for receiving images from all GPU-Lidar data in airsim. + Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. + +- `/airsim_node/update_echo_every_n_sec` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: 0.01 seconds. + Timer callback frequency for receiving images from all echo sensor data in airsim. + Timer callbacks in ROS run at maximum rate possible, so it's best to not touch this parameter. + +- `/airsim_node/publish_clock` [double] + Set in: `$(airsim_ros_pkgs)/launch/airsim_node.launch` + Default: false + Will publish the ros /clock topic if set to true. + +### Simple PID Position Controller Node + +#### Parameters: + +- PD controller parameters: + * `/pd_position_node/kp_x` [double], + `/pd_position_node/kp_y` [double], + `/pd_position_node/kp_z` [double], + `/pd_position_node/kp_yaw` [double] + Proportional gains + + * `/pd_position_node/kd_x` [double], + `/pd_position_node/kd_y` [double], + `/pd_position_node/kd_z` [double], + `/pd_position_node/kd_yaw` [double] + Derivative gains + + * `/pd_position_node/reached_thresh_xyz` [double] + Threshold euler distance (meters) from current position to setpoint position + + * `/pd_position_node/reached_yaw_degrees` [double] + Threshold yaw distance (degrees) from current position to setpoint position + +- `/pd_position_node/update_control_every_n_sec` [double] + Default: 0.01 seconds + +#### Services: + +- `/airsim_node/VEHICLE-NAME/gps_goal` [Request: [airsim_interfaces::SetGPSPosition](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros/src/airsim_ros_pkgs/srv/SetGPSPosition.srv)] + Target gps position + yaw. + In **absolute** altitude. + +- `/airsim_node/VEHICLE-NAME/local_position_goal` [Request: [airsim_interfaces::SetLocalPosition](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros/src/airsim_ros_pkgs/srv/SetLocalPosition.srv)] + Target local position + yaw in global frame. + +#### Subscribers: + +- `/airsim_node/origin_geo_point` [airsim_interfaces::GPSYaw](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/GPSYaw.msg) + Listens to home geo coordinates published by `airsim_node`. + +- `/airsim_node/VEHICLE-NAME/odom_local` [nav_msgs::Odometry](https://docs.ros.org/api/nav_msgs/html/msg/Odometry.html) + Listens to odometry published by `airsim_node` + +#### Publishers: + +- `/vel_cmd_world_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + Sends velocity command to `airsim_node` + +- `/vel_cmd_body_frame` [airsim_interfaces::VelCmd](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/ros2/src/airsim_interfaces/msg/VelCmd.msg) + Sends velocity command to `airsim_node` + +#### Global params + +- Dynamic constraints. These can be changed in `dynamic_constraints.launch`: + * `/max_vel_horz_abs` [double] + Maximum horizontal velocity of the drone (meters/second) + + * `/max_vel_vert_abs` [double] + Maximum vertical velocity of the drone (meters/second) + + * `/max_yaw_rate_degree` [double] + Maximum yaw rate (degrees/second) \ No newline at end of file diff --git a/ros2/src/airsim_ros_pkgs/package.xml b/ros2/src/airsim_ros_pkgs/package.xml index ba55b1e2c..8d25753cb 100644 --- a/ros2/src/airsim_ros_pkgs/package.xml +++ b/ros2/src/airsim_ros_pkgs/package.xml @@ -1,7 +1,7 @@ airsim_ros_pkgs - 3.2.0 + 3.4.0 ROS Wrapper over Cosys-AirSim's C++ client library Wouter Jansen From 5dcb397bf9cc97ecee6290e99b128e5d5ed239aa Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:19:03 +0200 Subject: [PATCH 40/70] docs 5.8 update --- build.cmd | 2 +- docs/apis.md | 6 ++---- docs/docker_ubuntu.md | 14 +++++++------- docs/install_linux.md | 7 ++++--- docs/install_windows.md | 5 +++-- docs/matlab.md | 4 ++-- docs/packaging.md | 2 +- docs/{ros_cplusplus.md => ros2.md} | 0 docs/run_packaged.md | 2 +- docs/skid_steer_vehicle.md | 2 +- docs/unreal_custenv.md | 2 ++ mkdocs.yml | 2 +- 12 files changed, 25 insertions(+), 23 deletions(-) rename docs/{ros_cplusplus.md => ros2.md} (100%) diff --git a/build.cmd b/build.cmd index b41fafd80..e834cc91b 100644 --- a/build.cmd +++ b/build.cmd @@ -15,7 +15,7 @@ if "%VisualStudioVersion%" == "" ( ) if "%VisualStudioVersion%" lss "17.0" ( echo( - echo Hello there! We just upgraded AirSim to Unreal Engine 5.6 and Visual Studio 2022. + echo Hello there! We just upgraded AirSim to Unreal Engine 5.8 and Visual Studio 2022. echo Here are few easy steps for upgrade so everything is new and shiny: echo https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/docs/unreal_upgrade.md goto :buildfailed_nomsg diff --git a/docs/apis.md b/docs/apis.md index 0d0feec3c..87224f043 100644 --- a/docs/apis.md +++ b/docs/apis.md @@ -22,11 +22,9 @@ If you are using Visual Studio 2019 then just open AirSim.sln, set PythonClient ### Installing AirSim Package -You can also install the AirSim python module to your Python environment to use anywhere by running `pip install .` in the _PythonClient_ folder. +You can install the Cosys-AirSim Python client from pip with `pip install cosysairsim`. +You can also install the AirSim python module to your Python environment by running `pip install .` in the _PythonClient_ folder. -**Notes** -1. You may notice a file `setup_path.py` in our example folders. This file has simple code to detect if `airsim` package is available in parent folder and in that case we use that instead of pip installed package so you always use latest code. -2. AirSim is still under heavy development which means you might frequently need to update the package to use new APIs. ## C++ Users If you want to use C++ APIs and examples, please see [C++ APIs Guide](apis_cpp.md). diff --git a/docs/docker_ubuntu.md b/docs/docker_ubuntu.md index f11952ca3..01d8f303e 100644 --- a/docs/docker_ubuntu.md +++ b/docs/docker_ubuntu.md @@ -16,8 +16,8 @@ We've two options for docker. You can either build an image for running [Cosys-A ```bash cd Airsim/docker; python build_airsim_image.py \ - --base_image=ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 \ - --target_image=airsim_binary:dev-slim-5.6.1 + --base_image=ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0 \ + --target_image=airsim_binary:dev-slim-5.8.0 ``` - Verify you have an image by: @@ -44,9 +44,9 @@ xhost +local:docker ``` Do not forget to run the xhost command first to bind the X11 to docker. - For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary:dev-slim-5.6.1 LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` + For Blocks, you can do a `./run_airsim_image_binary.sh airsim_binary:dev-slim-5.8.0 LinuxBlocks/Linux/Blocks.sh -windowed -ResX=1080 -ResY=720` - * `DOCKER_IMAGE_NAME`: Same as `target_image` parameter in previous step. By default, enter `airsim_binary:dev-slim-5.6.1` + * `DOCKER_IMAGE_NAME`: Same as `target_image` parameter in previous step. By default, enter `airsim_binary:dev-slim-5.8.0` * `UNREAL_BINARY_SHELL_SCRIPT`: for Blocks enviroment, it will be `LinuxBlocks/Linux/Blocks.sh` * [`UNREAL_BINARY_ARGUMENTS`](https://docs.unrealengine.com/en-us/Programming/Basics/CommandLineArguments): For airsim, most relevant would be `-windowed`, `-ResX`, `-ResY`. Click on link to see all options. @@ -68,8 +68,8 @@ xhost +local:docker $ cd Airsim/docker; $ python build_airsim_image.py \ --source \ - --base_image ghcr.io/epicgames/unreal-engine:dev-slim-5.6.1 \ - --target_image=airsim_source:dev-slim-5.6.1 + --base_image ghcr.io/epicgames/unreal-engine:dev-slim-5.8.0 \ + --target_image=airsim_source:dev-slim-5.8.0 ``` #### Running Cosys-AirSim container @@ -77,7 +77,7 @@ $ python build_airsim_image.py \ ```bash xhost +local:docker -./run_airsim_image_source.sh airsim_source:dev-slim-5.6.1 +./run_airsim_image_source.sh airsim_source:dev-slim-5.8.0 ``` Syntax is `./run_airsim_image_source.sh DOCKER_IMAGE_NAME` diff --git a/docs/install_linux.md b/docs/install_linux.md index 447840639..f55ed5f3c 100755 --- a/docs/install_linux.md +++ b/docs/install_linux.md @@ -12,10 +12,10 @@ sudo ./llvm.sh ``` ## Install Unreal Engine -Download the latest version of Unreal Engine 5.6 from the [official download page](https://www.unrealengine.com/en-US/linux). +Download the latest version of Unreal Engine 5.8 from the [official download page](https://www.unrealengine.com/en-US/linux). This will require an Epic Games account. Once the zip archive is downloaded you can extract it to where you want to install the Unreal Engine. ```bash -unzip Linux_Unreal_Engine_5.6.X.zip -d destination_folder +unzip Linux_Unreal_Engine_5.8.X.zip -d destination_folder ``` If you chose a folder such as for example `/opt/UnrealEngine` make sure to provide permissions and to set the owner, otherwise you might run into issues: ```bash @@ -23,7 +23,7 @@ sudo chmod -R 777 /opt/UnrealEngine sudo chown -r yourusername /opt/UnrealEngine ``` From where you install Unreal Engine, you can run `Engine/Binaries/Linux/UnrealEditor` from the terminal to launch Unreal Engine. -For more information you can read the [quick start guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/linux-development-quickstart-for-unreal-engine?application_version=5.6). +For more information you can read the [quick start guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/linux-development-quickstart-for-unreal-engine?application_version=5.8). You can alternatively install Unreal Engine from source if you do not use a Ubuntu distribution, see the documentation linked above for more information. @@ -51,6 +51,7 @@ Once Cosys-AirSim is setup: - If you get prompts to convert project, look for More Options or Convert-In-Place option. If you get prompted to build, choose Yes. If you get prompted to disable Cosys-AirSim plugin, choose No. - After Unreal Editor loads, press Play button. +You can install the Cosys-AirSim Python client from pip with `pip install cosysairsim`. See [Using APIs](apis.md) and [settings.json](settings.md) for various options available for Cosys-AirSim usage. !!! tip diff --git a/docs/install_windows.md b/docs/install_windows.md index 611e6080b..33b695f43 100644 --- a/docs/install_windows.md +++ b/docs/install_windows.md @@ -3,12 +3,12 @@ ## Install Unreal Engine 1. [Download](https://www.unrealengine.com/download) the Epic Games Launcher. While the Unreal Engine is open source and free to download, registration is still required. 2. Run the Epic Games Launcher, open the `Unreal Engine` tab on the left pane. -Click on the `Install` button on the top right, which should show the option to download **Unreal Engine 5.6.X**. Chose the install location to suit your needs, as shown in the images below. If you have multiple versions of Unreal installed then **make sure the version you are using is set to `current`** by clicking down arrow next to the Launch button for the version. +Click on the `Install` button on the top right, which should show the option to download **Unreal Engine 5.8.X**. Chose the install location to suit your needs, as shown in the images below. If you have multiple versions of Unreal installed then **make sure the version you are using is set to `current`** by clicking down arrow next to the Launch button for the version. ![Unreal Engine Tab UI Screenshot](images/ue_install.png) ![Unreal Engine Install Location UI Screenshot](images/ue_install_location.png) ## Build Cosys-AirSim -* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.6). +* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.8). * Start `Developer Command Prompt for VS 2022`. * Clone the repo: `git clone https://github.com/Cosys-Lab/Cosys-AirSim.git`, and go the AirSim directory by `cd Cosys-AirSim`. * Run `build.cmd` from the command line. This will create ready to use plugin bits in the `Unreal\Plugins` folder that can be dropped into any Unreal project. @@ -34,6 +34,7 @@ Once Cosys-AirSim is set up by following above steps, you can, !!! tip Go to 'Edit->Editor Preferences', in the 'Search' box type 'CPU' and ensure that the 'Use Less CPU when in Background' is unchecked. +You can install the Cosys-AirSim Python client from pip with `pip install cosysairsim`. See [Using APIs](apis.md) and [settings.json](settings.md) for various options available. # FAQ diff --git a/docs/matlab.md b/docs/matlab.md index 9e8761ba5..c3b9b94b6 100644 --- a/docs/matlab.md +++ b/docs/matlab.md @@ -6,8 +6,8 @@ This can be used from source or installed as a toolbox (install from [File Excha ## Prerequisites These instructions are for Matlab 2024a (with toolboxes for the client: Computer Vision, Aerospace, Signal Processing Toolbox) UE 5.X and latest Cosys-AirSim release. -It also requires the AirSim python package to be installed. -For this go into the _PythonClient_ folder and use pip to install it to your python environment that is also used in Matlab with `pip install .` +It also requires the cosysairsim python package to be installed. You can install the Cosys-AirSim Python client from pip with `pip install cosysairsim`. +You can also install the AirSim python module to your Python environment by running `pip install .` in the _PythonClient_ folder. You can find out in Matlab what Python version is used with ```matlab pe = pyenv; diff --git a/docs/packaging.md b/docs/packaging.md index 52c344f6c..77ec50edc 100644 --- a/docs/packaging.md +++ b/docs/packaging.md @@ -9,7 +9,7 @@ packaging an entire project including the plugin. First you need to build the library. On Windows: -* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.6). +* Install Visual Studio 2022. Make sure to select Desktop Development with C++ and Windows 10/11 SDK **10.0.X (choose latest)** and select the latest .NET Framework SDK under the 'Individual Components' tab while installing VS 2022. More info [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/setting-up-visual-studio-development-environment-for-cplusplus-projects-in-unreal-engine?application_version=5.8). * Start `Developer Command Prompt for VS 2022`. * Clone the repo: `git clone https://github.com/Cosys-Lab/Cosys-AirSim.git`, and go the AirSim directory by `cd Cosys-AirSim`. * Run `build.cmd` from the command line. This will create ready to use plugin bits in the `Unreal\Plugins` folder. diff --git a/docs/ros_cplusplus.md b/docs/ros2.md similarity index 100% rename from docs/ros_cplusplus.md rename to docs/ros2.md diff --git a/docs/run_packaged.md b/docs/run_packaged.md index b48765bba..1aac0e446 100644 --- a/docs/run_packaged.md +++ b/docs/run_packaged.md @@ -1,7 +1,7 @@ # Download and run Packaged Binary If you wish to test the Cosys-AirSim plugin a simple environment without having to install Unreal Engine, you can download the prepackaged binary for the Blocks test environment from the [releases page](https://github.com/Cosys-Lab/Cosys-AirSim/releases) and run it as a binary executable on Windows (_Blocks.exe_) or start it with a shell script (_./Blocks.sh_) on Linux systems. -They support multiple launch arguments. More info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/command-line-arguments-in-unreal-engine?application_version=5.6). +They support multiple launch arguments. More info can be found [here](https://dev.epicgames.com/documentation/en-us/unreal-engine/command-line-arguments-in-unreal-engine?application_version=5.8). The releases page also comes with additional downloads and links to the several API implementations for ROS(2) and the Python and Matlab API clients for that specific version of the Cosys-AirSim plugin. diff --git a/docs/skid_steer_vehicle.md b/docs/skid_steer_vehicle.md index 548fd6e76..4e830c775 100644 --- a/docs/skid_steer_vehicle.md +++ b/docs/skid_steer_vehicle.md @@ -9,7 +9,7 @@ It is build using the Chaos engine of Unreal which does not support this vehicle ## Creating a new skid steer vehicle The steps to setup the vehicle are largely the same as a WheeledVehiclePawn with some slight adjustments. -1. Follow [this guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/how-to-set-up-vehicles-in-unreal-engine?application_version=5.6) to create the skeletal mesh and physics asset. +1. Follow [this guide](https://dev.epicgames.com/documentation/en-us/unreal-engine/how-to-set-up-vehicles-in-unreal-engine?application_version=5.8) to create the skeletal mesh and physics asset. 2. For the wheels setup, the vehicle should have 4 wheels, 2 for the left side and 2 for the right side. Please use SkidWheel as the wheel class. 3. For the vehicle blueprint to create the pawn it is also largely the same as in that tutorial however as class one should use the *SkidVehiclePawn* sub-class. The vehicle setup parameters are more simplified. 4. To have animated wheels, proper physics and correct steering behavior, please take a look at how the CPHusky is configured in the AirSim plugin. The Husky is a skid steer vehicle and can be used as a reference. diff --git a/docs/unreal_custenv.md b/docs/unreal_custenv.md index 6c4082308..3436e77e1 100644 --- a/docs/unreal_custenv.md +++ b/docs/unreal_custenv.md @@ -6,6 +6,8 @@ Below we will use a freely downloadable environment from Unreal Marketplace call ## Note for Linux Users There is no `Epic Games Launcher` for Linux which means that if you need to create custom environment, you will need Windows machine to do that. Once you have Unreal project folder, just copy it over to your Linux machine. +Alternatively, you can manage and download Epic Games assets on Linux using **[Epic Asset Manager](https://flathub.org/en/apps/io.github.achetagames.epic_asset_manager)**, a community-developed tool available on Flathub that provides access to Unreal Engine assets without requiring the official Epic Games Launcher. + ## Step-by-Step Instructions when using Cosys-AirSim from Precompiled Binaries 1. It is assumed you downloaded the right precompiled Cosys-AirSim plugin from the [GitHub releases page](https://github.com/Cosys-Lab/Cosys-AirSim/releases) for the right Unreal version. 2. In `Epic Games Launcher` click the Samples tab then scroll down and find `Landscape Mountains`. Click the `Create Project` and download this content (~2GB download). diff --git a/mkdocs.yml b/mkdocs.yml index 458271c33..93e580d63 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -49,7 +49,7 @@ nav: - "Distance Sensor": 'distance_sensor.md' - "ROS": - "ROS: AirSim ROS Python Wrapper": "ros_python.md" - - "ROS2: AirSim ROS C++ Wrapper": "ros_cplusplus.md" + - "ROS2: AirSim ROS C++ Wrapper": "ros2.md" - "Matlab": 'matlab.md' - "Playing Logs": 'playback.md' - "Voxel Grid Generator": "voxel_grid.md" From 26848417f5ceb9f3a1296811560c6fbbd299cfd6 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:19:17 +0200 Subject: [PATCH 41/70] update for jetbrains and claude --- .gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 0f7c73fbe..311e21966 100644 --- a/.gitignore +++ b/.gitignore @@ -402,4 +402,6 @@ PythonClient/docs/_build /Unreal/Environments/BlocksComp/ docker/LinuxBlocks/* /cosys-airsim-data-scripts/ -CLAUDE.md \ No newline at end of file +CLAUDE.md +*.claude +*.idea \ No newline at end of file From 9034655f5ebd82dc6b4476f108bc32570b15e758 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:19:29 +0200 Subject: [PATCH 42/70] readme 5.8dev update --- README.md | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index c4423c5cf..a9ff006a9 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ Please note that we use that same [MIT license](https://github.com/Cosys-Lab/Cos Do note that this repository is provided as is, will not be actively updated and comes without warranty or support. Please contact a Cosys-Lab researcher to get more in depth information on which branch or version is best for your work. -This [5.6 dev branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.6dev) is for the development of Cosys-AirSim on Unreal Engine v5.6.0. The documentation is best read from [source](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.6dev/docs). +This [5.8 dev branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.8dev) is for the development of Cosys-AirSim on Unreal Engine v5.8.0. The documentation is best read from [source](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.8dev/docs). For the latest stable and maintained build for a recent Unreal Engine see the [main branch](https://github.com/Cosys-Lab/Cosys-AirSim/tree/main) and associated builds in the [releases](https://github.com/Cosys-Lab/Cosys-AirSim/releases). Unreal [5.2.1](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.2.1) is also available for long term support builds. @@ -23,10 +23,6 @@ Unreal [5.2.1](https://github.com/Cosys-Lab/Cosys-AirSim/tree/5.2.1) is also ava booktitle={2023 Annual Modeling and Simulation Conference (ANNSIM)}, title={COSYS-AIRSIM: A Real-Time Simulation Framework Expanded for Complex Industrial Applications}, year={2023}, - volume={}, - number={}, - pages={37-48}, - keywords={Industries;Simultaneous localization and mapping;Machine learning algorithms;Atmospheric modeling;Transfer learning;Sensor systems and applications;Real-time systems;sensors;procedural generation;digital twins;transfer learning;open-source}, doi={https://doi.org/10.48550/arXiv.2303.13381}} ``` @@ -40,8 +36,6 @@ You can also find the presentation of the live tutorial of Cosys-AirSim at ANNSI booktitle={2022 IEEE Sensors}, title={Physical LiDAR Simulation in Real-Time Engine}, year={2022}, - volume={}, - number={}, pages={1-4}, doi={10.1109/SENSORS52175.2022.9967197}} } @@ -78,7 +72,7 @@ You can also find the presentation of the live tutorial of Cosys-AirSim at ANNSI * Updated sensors like cameras, Echo sensor and GPU-LiDAR to ignore certain objects with the _MarkedIgnore_ Unreal tag and enabling the "IgnoreMarked" setting in [the settings file](https://cosys-lab.github.io/Cosys-AirSim/settings). * Updated cameras sensor with more distortion features such as chromatic aberration, motion blur and lens distortion. * Updated Python [ROS implementation](https://cosys-lab.github.io/Cosys-AirSim/ros_python) with completely new implementation and feature set. -* Updated C++ [ROS2 implementation](https://cosys-lab.github.io/Cosys-AirSim/ros_cplusplus) to support custom Cosys-AirSim features. +* Updated C++ [ROS2 implementation](https://cosys-lab.github.io/Cosys-AirSim/ros2) to support custom Cosys-AirSim features. * Dropped support for Unity Environments. Some more details on our changes can be found in the [changelog](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/CHANGELOG.md). From 0e109208af3228d1d8ea93cbf685fb8c94fdf5c8 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:19:43 +0200 Subject: [PATCH 43/70] 5.8 update for 3.4 prerelease --- CHANGELOG.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index e3575406f..8e89c77a6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,7 @@ ### Development (version 3.4) -* Added support for Unreal 5.6. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. +* Added support for Unreal 5.8. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. * Added unique index to each object name in the annotation system to avoid duplicate name overrides. +* Added support with annotation system for (instanced) skeletal nanite meshes. * Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. * Updated annotation system to stop printing everything to log. * Updated default camera to use auto-focus. Manual focus still available through API. @@ -67,7 +68,7 @@ * Updated to be compatible with Unreal 5.3. * Note that 5.3 breaks debug rendering! Disable it to avoid issues in editor. [Fixed in 5.4](https://issues.unrealengine.com/issue/UE-199454) * Note that 5.3 and higher requires _r.DetailMode 2_ console command or scalability settings to be set to Epic to avoid issues with rendering the RGB scene camera sensor. More info [here](docs/unreal_custenv.md#unreal-scene-camera-bug). -* Updated [ROS2 wrapper](docs/ros_cplusplus.md) to support Cosys-AirSim features and fix several issues: +* Updated [ROS2 wrapper](docs/ros2.md) to support Cosys-AirSim features and fix several issues: * Added support for annotation cameras. * Added support for GPU-Lidar and Echos sensors. * Added support for ground truth labels of Lidar sensor. From 83d1b81c59a25fb33839430eea1c18668ad59094 Mon Sep 17 00:00:00 2001 From: mhnrahmani Date: Wed, 24 Sep 2025 14:37:21 +0200 Subject: [PATCH 44/70] some header includes have been changed to hpp in new ros2 distros --- ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h | 4 ++-- .../airsim_ros_pkgs/include/pd_position_controller_simple.h | 2 +- ros2/src/airsim_ros_pkgs/include/utils.h | 2 +- ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h b/ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h index 0274677d9..e98f7636c 100755 --- a/ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h +++ b/ros2/src/airsim_ros_pkgs/include/airsim_ros_wrapper.h @@ -40,7 +40,7 @@ STRICT_MODE_OFF //todo what does this do? #include #include #include -#include +#include #include #include #include @@ -69,7 +69,7 @@ STRICT_MODE_OFF //todo what does this do? #include #include #include -#include +#include #include #include #include diff --git a/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h b/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h index b2424b27f..690dde7b7 100644 --- a/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h +++ b/ros2/src/airsim_ros_pkgs/include/pd_position_controller_simple.h @@ -15,7 +15,7 @@ STRICT_MODE_OFF //todo what does this do? #include #include #include -#include +#include #include #include #include diff --git a/ros2/src/airsim_ros_pkgs/include/utils.h b/ros2/src/airsim_ros_pkgs/include/utils.h index a62f691a6..bd17fac5f 100755 --- a/ros2/src/airsim_ros_pkgs/include/utils.h +++ b/ros2/src/airsim_ros_pkgs/include/utils.h @@ -1,4 +1,4 @@ -#include +#include namespace utils { inline double get_yaw_from_quat_msg(const geometry_msgs::msg::Quaternion& quat_msg) diff --git a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp index a0adea937..bd323dafd 100755 --- a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp +++ b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp @@ -1,6 +1,6 @@ #include #include "common/AirSimSettings.hpp" -#include +#include using namespace std::placeholders; From 401157216fa145cf88b5ace07b7375a33aa54bce Mon Sep 17 00:00:00 2001 From: mhnrahmani Date: Tue, 30 Sep 2025 14:28:28 +0000 Subject: [PATCH 45/70] ros2 node new tf hierarchy: world-> odom-> vehicle-> sensors --- .../airsim_ros_pkgs/src/airsim_ros_wrapper.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp index bd323dafd..79aae7f01 100755 --- a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp +++ b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp @@ -1448,8 +1448,8 @@ rclcpp::Time AirsimROSWrapper::update_state() vehicle_ros->env_msg_ = env_msg; // convert airsim drone state to ROS msgs - vehicle_ros->curr_odom_.header.frame_id = vehicle_ros->vehicle_name_; - vehicle_ros->curr_odom_.child_frame_id = vehicle_ros->odom_frame_id_; + vehicle_ros->curr_odom_.header.frame_id = vehicle_ros->odom_frame_id_; + vehicle_ros->curr_odom_.child_frame_id = vehicle_ros->vehicle_name_; vehicle_ros->curr_odom_.header.stamp = vehicle_time; } @@ -1630,7 +1630,7 @@ void AirsimROSWrapper::append_static_vehicle_tf(VehicleROS* vehicle_ros, const V geometry_msgs::msg::TransformStamped vehicle_tf_msg; vehicle_tf_msg.header.frame_id = world_frame_id_; vehicle_tf_msg.header.stamp = nh_->now(); - vehicle_tf_msg.child_frame_id = vehicle_ros->vehicle_name_; + vehicle_tf_msg.child_frame_id = vehicle_ros->odom_frame_id_; vehicle_tf_msg.transform = get_transform_msg_from_airsim(vehicle_setting.position, vehicle_setting.rotation); convert_tf_msg_to_ros(vehicle_tf_msg); @@ -1644,7 +1644,7 @@ void AirsimROSWrapper::append_static_lidar_tf(VehicleROS* vehicle_ros, const std if(lidar_setting.external) lidar_tf_msg.header.frame_id = world_frame_id_; else - lidar_tf_msg.header.frame_id = vehicle_ros->vehicle_name_ + "/" + odom_frame_id_; + lidar_tf_msg.header.frame_id = vehicle_ros->vehicle_name_; lidar_tf_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + lidar_name; auto lidar_data = airsim_client_lidar_.getLidarData(lidar_name, vehicle_ros->vehicle_name_); @@ -1661,7 +1661,7 @@ void AirsimROSWrapper::append_static_gpulidar_tf(VehicleROS* vehicle_ros, const if(gpulidar_setting.external) gpulidar_tf_msg.header.frame_id = world_frame_id_; else - gpulidar_tf_msg.header.frame_id = vehicle_ros->vehicle_name_ + "/" + odom_frame_id_; + gpulidar_tf_msg.header.frame_id = vehicle_ros->vehicle_name_; gpulidar_tf_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + gpulidar_name; auto gpulidar_data = airsim_client_gpulidar_.getGPULidarData(gpulidar_name, vehicle_ros->vehicle_name_); @@ -1678,7 +1678,7 @@ void AirsimROSWrapper::append_static_echo_tf(VehicleROS* vehicle_ros, const std: if(echo_setting.external) echo_tf_msg.header.frame_id = world_frame_id_; else - echo_tf_msg.header.frame_id = vehicle_ros->vehicle_name_ + "/" + odom_frame_id_; + echo_tf_msg.header.frame_id = vehicle_ros->vehicle_name_; echo_tf_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + echo_name; auto echo_data = airsim_client_echo_.getEchoData(echo_name, vehicle_ros->vehicle_name_); @@ -1695,7 +1695,7 @@ void AirsimROSWrapper::append_static_camera_tf(VehicleROS* vehicle_ros, const st if(camera_setting.external) static_cam_tf_body_msg.header.frame_id = world_frame_id_; else - static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_ + "/" + odom_frame_id_; + static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_; static_cam_tf_body_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_body"; auto camera_info_data = airsim_client_images_.simGetCameraInfo(camera_name, vehicle_ros->vehicle_name_); @@ -1707,7 +1707,7 @@ void AirsimROSWrapper::append_static_camera_tf(VehicleROS* vehicle_ros, const st if(camera_setting.external) static_cam_tf_body_msg.header.frame_id = world_frame_id_; else - static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_ + "/" + odom_frame_id_; + static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_; static_cam_tf_optical_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_optical"; static_cam_tf_optical_msg.transform = get_camera_optical_tf_from_body_tf(static_cam_tf_body_msg.transform); From 6448d313c344092283c5e69e6d8fcc9bb9f2049b Mon Sep 17 00:00:00 2001 From: mhnrahmani Date: Wed, 15 Oct 2025 12:29:51 +0000 Subject: [PATCH 46/70] bugfix in ros2 camera tf --- .../airsim_ros_pkgs/src/airsim_ros_wrapper.cpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp index 79aae7f01..3354afba4 100755 --- a/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp +++ b/ros2/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp @@ -1692,22 +1692,20 @@ void AirsimROSWrapper::append_static_echo_tf(VehicleROS* vehicle_ros, const std: void AirsimROSWrapper::append_static_camera_tf(VehicleROS* vehicle_ros, const std::string& camera_name, const CameraSetting& camera_setting) { geometry_msgs::msg::TransformStamped static_cam_tf_body_msg; - if(camera_setting.external) + if(camera_setting.external){ static_cam_tf_body_msg.header.frame_id = world_frame_id_; - else + auto camera_info_data = airsim_client_images_.simGetCameraInfo(camera_name, vehicle_ros->vehicle_name_); + static_cam_tf_body_msg.transform = get_transform_msg_from_airsim(camera_info_data.pose.position, camera_info_data.pose.orientation); + } + else{ static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_; + static_cam_tf_body_msg.transform = get_transform_msg_from_airsim(camera_setting.position, camera_setting.rotation); + } static_cam_tf_body_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_body"; - auto camera_info_data = airsim_client_images_.simGetCameraInfo(camera_name, vehicle_ros->vehicle_name_); - static_cam_tf_body_msg.transform = get_transform_msg_from_airsim(camera_info_data.pose.position, camera_info_data.pose.orientation); - convert_tf_msg_to_ros(static_cam_tf_body_msg); geometry_msgs::msg::TransformStamped static_cam_tf_optical_msg = static_cam_tf_body_msg; - if(camera_setting.external) - static_cam_tf_body_msg.header.frame_id = world_frame_id_; - else - static_cam_tf_body_msg.header.frame_id = vehicle_ros->vehicle_name_; static_cam_tf_optical_msg.child_frame_id = vehicle_ros->vehicle_name_ + "/" + camera_name + "_optical"; static_cam_tf_optical_msg.transform = get_camera_optical_tf_from_body_tf(static_cam_tf_body_msg.transform); From d1ceeae174d9fd6b154abe353d15dad1a63f11c2 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:23:53 +0200 Subject: [PATCH 47/70] updated for jazzy --- docs/ros2.md | 2 +- ros2/src/airsim_ros_pkgs/README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/ros2.md b/docs/ros2.md index 33309f816..859de4c8d 100644 --- a/docs/ros2.md +++ b/docs/ros2.md @@ -1,7 +1,7 @@ # airsim_ros_pkgs A ROS2 wrapper over the Cosys-AirSim C++ client library. All coordinates and data are in the right-handed coordinate frame of the ROS standard and not in NED except for geo points. -The following was tested on Ubuntu 22.04 with ROS2 Iron. +The following was tested with ROS2 Jazzy. ## Build diff --git a/ros2/src/airsim_ros_pkgs/README.md b/ros2/src/airsim_ros_pkgs/README.md index 777f0df34..a5cd9d649 100755 --- a/ros2/src/airsim_ros_pkgs/README.md +++ b/ros2/src/airsim_ros_pkgs/README.md @@ -1,7 +1,7 @@ # airsim_ros_pkgs A ROS2 wrapper over the Cosys-AirSim C++ client library. All coordinates and data are in the right-handed coordinate frame of the ROS standard and not in NED except for geo points. -The following was tested on Ubuntu 22.04 with ROS2 Iron. +The following was tested with ROS2 Jazzy. ## Build From 28ce584b8da889feb18d1b906c29a838a708547b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:24:04 +0200 Subject: [PATCH 48/70] updated for ros2 fixes --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8e89c77a6..64af5a860 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,6 +9,9 @@ * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. +* Fixed incorrect TF-coordinate system for cameras for ROS2 node. +* Fixed incorrect TF hierarchy order to world->odom->vehicle->sensors for ROS2 node. +* Fixed ROS2 header imports to support newer ROS2 distros such as Jazzy. ### April 2025 (version 3.3) From eadcadf0d355ac2cbe6c328c8f68dd28c661409e Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 10:47:38 +0200 Subject: [PATCH 49/70] fixed missing version number --- .gitignore | 4 +- .../Environments/Blocks/Blocks.code-workspace | 50 ------------------- .../Blocks/Source/BlocksEditor.Target.cs | 2 +- 3 files changed, 4 insertions(+), 52 deletions(-) delete mode 100644 Unreal/Environments/Blocks/Blocks.code-workspace diff --git a/.gitignore b/.gitignore index 311e21966..8d07dbbfe 100644 --- a/.gitignore +++ b/.gitignore @@ -404,4 +404,6 @@ docker/LinuxBlocks/* /cosys-airsim-data-scripts/ CLAUDE.md *.claude -*.idea \ No newline at end of file +*.idea +Unreal/Environments/Blocks/Automation_Blocks.slnx +Unreal/Environments/Blocks/Blocks.slnx diff --git a/Unreal/Environments/Blocks/Blocks.code-workspace b/Unreal/Environments/Blocks/Blocks.code-workspace deleted file mode 100644 index 97b4057b0..000000000 --- a/Unreal/Environments/Blocks/Blocks.code-workspace +++ /dev/null @@ -1,50 +0,0 @@ -{ - "folders": [ - { - "path": "." - }, - { - "path": "/home/girmi/opt/UnrealEngine" - } - ], - "settings": { - "typescript.tsc.autoDetect": "off", - "files.associations": { - "*.launch": "xml", - "*.machine": "xml", - "cctype": "cpp", - "clocale": "cpp", - "cmath": "cpp", - "cstdarg": "cpp", - "cstddef": "cpp", - "cstdio": "cpp", - "cstdlib": "cpp", - "cstring": "cpp", - "ctime": "cpp", - "cwchar": "cpp", - "cwctype": "cpp", - "atomic": "cpp", - "hash_map": "cpp", - "strstream": "cpp", - "*.tcc": "cpp", - "chrono": "cpp", - "cinttypes": "cpp", - "codecvt": "cpp", - "condition_variable": "cpp", - "cstdint": "cpp", - "forward_list": "cpp", - "optional": "cpp", - "string_view": "cpp", - "slist": "cpp", - "future": "cpp", - "initializer_list": "cpp", - "iosfwd": "cpp", - "mutex": "cpp", - "ratio": "cpp", - "system_error": "cpp", - "thread": "cpp", - "typeindex": "cpp", - "algorithm": "cpp" - } - } -} diff --git a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs index 740e05a96..ddac85fa4 100644 --- a/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs +++ b/Unreal/Environments/Blocks/Source/BlocksEditor.Target.cs @@ -7,7 +7,7 @@ public class BlocksEditorTarget : TargetRules { public BlocksEditorTarget(TargetInfo Target) : base(Target) { - DefaultBuildSettings = BuildSettingsVersion.V; + DefaultBuildSettings = BuildSettingsVersion.V7; Type = TargetType.Editor; ExtraModuleNames.AddRange(new string[] { "Blocks" }); IncludeOrderVersion = EngineIncludeOrderVersion.Latest; From 52ba7c95a043b8a6c6cdebaf1478b3d83e690efe Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 11:50:18 +0200 Subject: [PATCH 50/70] Updated Matlab Toolbox for new toolbox project file structure. --- Matlab/.gitattributes | 33 ++++ Matlab/.gitignore | 40 +++++ Matlab/Cosys-AirSimMatlabAPIClient.prj | 2 + Matlab/buildfile.m | 149 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100644 Matlab/resources/thumbnail_matlab.png create mode 100644 Matlab/toolbox.ignore rename Matlab/{ => toolbox}/AirSimCameraTypes.m (100%) rename Matlab/{ => toolbox}/AirSimClient.m (100%) rename Matlab/{ => toolbox}/AirSimDrivetrainTypes.m (100%) rename Matlab/{ => toolbox}/AirSimGenerateColorMap.m (100%) rename Matlab/{ => toolbox}/AirSimWeather.m (100%) rename Matlab/{ => toolbox}/colormap.csv (100%) create mode 100644 Matlab/toolbox/doc/GettingStarted.mlx rename Matlab/{ => toolbox/examples}/example.m (100%) rename Matlab/{ => toolbox/examples}/example_twodrones.m (100%) rename Matlab/{ => toolbox}/info.xml (100%) create mode 100644 Matlab/toolbox/toolbox.ignore diff --git a/Matlab/.gitattributes b/Matlab/.gitattributes new file mode 100644 index 000000000..78150916e --- /dev/null +++ b/Matlab/.gitattributes @@ -0,0 +1,33 @@ +* text=auto + +*.fig binary +*.mat binary +*.mdl binary diff merge=mlAutoMerge +*.mdlp binary +*.mex* binary +*.mlapp binary +*.mldatx binary merge=mlAutoMerge +*.mlproj binary +*.mlx binary +*.p binary +*.plprj binary +*.sbproj binary +*.sfx binary +*.sldd binary +*.slreqx binary merge=mlAutoMerge +*.slmx binary merge=mlAutoMerge +*.sltx binary +*.slxc binary +*.slx binary merge=mlAutoMerge +*.slxp binary + +## MATLAB Project metadata files use LF line endings +/resources/project/**/*.xml text eol=lf + +## Other common binary file types +*.docx binary +*.exe binary +*.jpg binary +*.pdf binary +*.png binary +*.xlsx binary diff --git a/Matlab/.gitignore b/Matlab/.gitignore new file mode 100644 index 000000000..aac549e77 --- /dev/null +++ b/Matlab/.gitignore @@ -0,0 +1,40 @@ +# Autosave files +*.asv +*.m~ +*.autosave +*.slx.r* +*.mdl.r* + +# Derived content-obscured files +*.p + +# Compiled MEX files +*.mex* + +# Packaged app and toolbox files +*.mlappinstall +*.mltbx + +# Deployable archives +*.ctf + +# Generated helpsearch folders +helpsearch*/ + +# Code generation folders +slprj/ +sccprj/ +codegen/ + +# Cache files +*.slxc + +# Cloud based storage dotfile +.MATLABDriveTag + +# buildtool cache folder +.buildtool/ + +# SimBiology backup files +*.sbproj.backup +*.sbproj.bak diff --git a/Matlab/Cosys-AirSimMatlabAPIClient.prj b/Matlab/Cosys-AirSimMatlabAPIClient.prj new file mode 100644 index 000000000..6b95f9812 --- /dev/null +++ b/Matlab/Cosys-AirSimMatlabAPIClient.prj @@ -0,0 +1,2 @@ + + diff --git a/Matlab/buildfile.m b/Matlab/buildfile.m new file mode 100644 index 000000000..9eed91604 --- /dev/null +++ b/Matlab/buildfile.m @@ -0,0 +1,149 @@ +function plan = buildfile + import matlab.buildtool.tasks.CleanTask + import matlab.buildtool.tasks.CodeIssuesTask + + % Create a plan from the task functions + plan = buildplan(localfunctions); + + % Define the "clean" Task + plan("clean") = matlab.buildtool.tasks.CleanTask; + + % Define the "check" task + sourceFolder = files(plan, "toolbox"); + plan("check") = matlab.buildtool.tasks.CodeIssuesTask(sourceFolder,... + IncludeSubfolders = true); + + plan.DefaultTasks = ["clean" "check" "generatedocs" "release"]; + + % Make the "release" task dependent on the others + plan("release").Dependencies = ["check" "generatedocs"]; + plan("release").Outputs = "release\sonotraceue.mltbx"; +end + +function releaseTask(~) + % Create an MLTBX package + releaseFolderName = "release"; + % Create a release and put it in the release directory + opts = matlab.addons.toolbox.ToolboxOptions("SonoTraceUE-Toolbox.prj"); + + % By default, the packaging GUI restricts the name of the getting started guide, so we fix that here. + opts.ToolboxGettingStartedGuide = fullfile("toolbox", "doc", "gettingStarted.mlx"); + + % GitHub releases don't allow spaces, so replace spaces with underscores + opts.OutputFile = fullfile(releaseFolderName, "sonotraceue.mltbx"); + + % Create the release directory, if needed + if ~exist(releaseFolderName,"dir") + mkdir(releaseFolderName) + end + matlab.addons.toolbox.packageToolbox(opts); +end + +function generatedocsTask(~) + % Generate markdown readme + + mdfile = export("toolbox/doc/GettingStarted.mlx", "README.md", Format="markdown"); + + % Clean up the README.md file + cleanupReadme("README.md"); + + % Generate HTML pages + htmldir = "toolbox\doc\html"; + if ~exist(htmldir, 'dir') + mkdir(htmldir) + end + mdfile = export("toolbox/doc/GettingStarted.mlx", "toolbox/doc/html/GettingStarted.html", Format="html"); +end + +function cleanupReadme(filename) + % Read the file + fileContent = fileread(filename); + lines = splitlines(fileContent); + + % Find and remove TOC section (between and ) + inToc = false; + linesToKeep = true(size(lines)); + + for i = 1:length(lines) + if contains(lines{i}, '') + inToc = true; + linesToKeep(i) = false; + elseif contains(lines{i}, '') + inToc = false; + linesToKeep(i) = false; + elseif inToc + linesToKeep(i) = false; + end + end + + lines = lines(linesToKeep); + + % Remove lines containing problematic links + % 1. Lines with MATLAB-specific anchor links like [text](#H_xxxx) + % 2. For lines with links to .mlx/.m files, remove only sentences with those links + linesToKeep = true(size(lines)); + + for i = 1:length(lines) + line = lines{i}; + % Check for MATLAB anchor links pattern: [text](#H_xxxx) or [text](#TMP_xxxx) + if ~isempty(regexp(line, '\[.*?\]\(#[HT]_[a-zA-Z0-9]+\)', 'once')) + linesToKeep(i) = false; + continue; + end + + % Check for links to .mlx or .m files + if contains(line, '.mlx)') || contains(line, '.m)') + % Split line into sentences (split by period followed by space or end of string) + sentences = regexp(line, '[^.]*\.(?:\s|$)', 'match'); + + % If no sentences found (no periods), check the whole line + if isempty(sentences) + sentences = {line}; + end + + cleanSentences = {}; + for j = 1:length(sentences) + sentence = sentences{j}; + % Keep sentence only if it doesn't contain .mlx or .m links + if ~contains(sentence, '.mlx)') && ~contains(sentence, '.m)') + cleanSentences{end+1} = sentence; + end + end + + % Reconstruct the line if there are any clean sentences + if ~isempty(cleanSentences) + lines{i} = strjoin(cleanSentences, ''); + % Trim any extra whitespace + lines{i} = strtrim(lines{i}); + else + % If all sentences had problematic links, mark line for removal + linesToKeep(i) = false; + end + end + end + + lines = lines(linesToKeep); + + % Downgrade heading levels (except the first main title) + % MATLAB exports title as #, but we want to keep first heading as # and downgrade all others + firstHeadingFound = false; + for i = 1:length(lines) + line = lines{i}; + % Check if line is a markdown heading (starts with #) + if ~isempty(line) && line(1) == '#' + if ~firstHeadingFound + % Keep the first heading as-is (the main title) + firstHeadingFound = true; + else + % Downgrade all subsequent headings by one level (add one more #) + lines{i} = ['#' line]; + end + end + end + + % Write the cleaned content back to file + fileContent = strjoin(lines, newline); + fid = fopen(filename, 'w', 'n', 'UTF-8'); + fwrite(fid, fileContent, 'char'); + fclose(fid); +end \ No newline at end of file diff --git a/Matlab/demos.xml b/Matlab/demos.xml deleted file mode 100644 index 705f45655..000000000 --- a/Matlab/demos.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - Cosys-AirSim Matlab API Client - toolbox - HelpIcon.DEMOS - - This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. 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the toolbox root folder. +% List only one exclusion per line. + +% EXAMPLES +% folder/ - Exclude folder and all of its content +% folder/* - Exclude contents of folder +% folder/** - Exclude all contents of folder and subfolders +% *.extension - Exclude files with extension in folder +% **/*.extension - Exclude all files with extension in folder and all subfolders +% file.extension - Exclude specific file +% folder/file.extension - Exclude specific file in a subfolder +% **/file.extension - Exclude specific file in all subfolders + +% Notes: +% - If a path starts with '%', include '\' before '%', for example, "\%examplefile.svn". +% - This file, 'toolbox.ignore', is always excluded from the toolbox and including it is not supported. + +%% Recommended Exclusions (remove lines to re-include files): + +% Exclude source control files +**/.git* +**/.git/ +**/*.svn + +% Toolbox files and project files +**/*.mltbx +**/*.prj + +% Backup files +**/*.asv +**/*.m~ +**/*.prj.bak + +% Local MATLAB/Simulink tool caches +**/slprj +**/.buildtool/ From b6d3cae399089e52cf4eebcee6b295dd1b7b6e87 Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 11:50:29 +0200 Subject: [PATCH 51/70] re-added IS --- docs/settings_example.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/settings_example.json b/docs/settings_example.json index af49f4dd1..61a7c3636 100644 --- a/docs/settings_example.json +++ b/docs/settings_example.json @@ -6,7 +6,7 @@ "ApiServerPort": 41451, "RecordUIVisible": true, "MoveWorldOrigin": false, - "InitialInstanceSegmentation": false, + "InitialInstanceSegmentation": true, "LogMessagesVisible": true, "ShowLosDebugLines": false, "ViewMode": "", From 26d0eb84e4b4f2c2eac6ffa41eb6b1b8501dd3ab Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 11:50:53 +0200 Subject: [PATCH 52/70] Updated Matlab Toolbox for new toolbox project file structure. --- Matlab/Cosys-AirSim Matlab API Client.prj | 154 ----- 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mode 100644 Matlab/html/example_03.png delete mode 100644 Matlab/html/example_04.png delete mode 100644 Matlab/html/example_05.png delete mode 100644 Matlab/html/example_06.png delete mode 100644 Matlab/html/example_07.png create mode 100644 Matlab/toolbox/doc/html/GettingStarted.html diff --git a/Matlab/Cosys-AirSim Matlab API Client.prj b/Matlab/Cosys-AirSim Matlab API Client.prj deleted file mode 100644 index ceb292153..000000000 --- a/Matlab/Cosys-AirSim Matlab API Client.prj +++ /dev/null @@ -1,154 +0,0 @@ - - - Cosys-AirSim Matlab API Client - Wouter Jansen - wouter.jansen@uantwerpen.be - Cosys-Lab, University of Antwerp - This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. - This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls. -Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client. - D:\BigProjects\Cosys-AirSim-Public\promo\thumbnail_matlab.png - 3.3.0.0 - ${PROJECT_ROOT}\Cosys-AirSim Matlab API Client.mltbx - - Aerospace Toolbox - Computer Vision Toolbox - Signal Processing Toolbox - - - 108 - 96 - 8 - - - 24.2 - 24.2 - 24.2 - - - 3a9ac55d-69ef-4d53-9167-e1958860a717 - - true - <?xml version="1.0" encoding="utf-8"?> -<examples> - <exampleCategory name="Matlab"> - <example name="example" type="html"> - <file type="source">/html/example.html</file> - <file type="main">/example.m</file> - <file type="thumbnail">/html/example.png</file> - <file type="image">/html/example_01.png</file> - <file type="image">/html/example_02.png</file> - <file type="image">/html/example_03.png</file> - <file type="image">/html/example_04.png</file> - <file type="image">/html/example_05.png</file> - <file type="image">/html/example_06.png</file> - <file type="image">/html/example_07.png</file> - </example> - </exampleCategory> -</examples> - - - - ${PROJECT_ROOT}\info.xml - ${PROJECT_ROOT}\doc\GettingStarted.mlx - - - false - - - - - - false - true - true - true - true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${PROJECT_ROOT} - - - ${PROJECT_ROOT}\AirSimCameraTypes.m - ${PROJECT_ROOT}\AirSimClient.m - ${PROJECT_ROOT}\AirSimDrivetrainTypes.m - ${PROJECT_ROOT}\AirSimGenerateColorMap.m - ${PROJECT_ROOT}\AirSimWeather.m - ${PROJECT_ROOT}\colormap.csv - ${PROJECT_ROOT}\demos.xml - ${PROJECT_ROOT}\doc - ${PROJECT_ROOT}\example.m - ${PROJECT_ROOT}\example_twodrones.m - ${PROJECT_ROOT}\help - ${PROJECT_ROOT}\html - ${PROJECT_ROOT}\info.xml - - - - - - D:\BigProjects\Cosys-AirSim-Public\Matlab\Cosys-AirSim Matlab API Client.mltbx - - - - C:\Program Files\MATLAB\R2024b - - - - - - true - - - - - false - false - true - false - false - false - false - false - 10.0 - false - true - win64 - true - - - \ No newline at end of file diff --git a/Matlab/README.md b/Matlab/README.md new file mode 100644 index 000000000..5074050fa --- /dev/null +++ b/Matlab/README.md @@ -0,0 +1,368 @@ + +# Cosys\-AirSim Matlab Client + +This a client implementation of the RPC API for Matlab for the Cosys\-AirSim simulation framework. A main class AirSimClient is available which implements all API calls. + + +Do note that at this point not all functions have been tested and most function documentation was auto\-generated. This is still a WIP client. + +## Dependencies +- MATLAB 2024a or higher with the associated supported Python version, 3.7 or higher with the Cosys\-AirSim python module. +- Computer Vision, Aerospace, Signal Processing Toolboxes + +You can install the Cosys\-AirSim Python client from pip (not from matlab console but with terminal/powershell/bash): + +```matlab +pip install cosysairsim +``` +## Usage +#### **Configure Python for MATLAB** + +First you need to correctly link your installed Python installation to MATLAB, as by default this isn't always the latest version of Python 3 you installed. You can verify which Python is linked by running: + +```matlab +pe = pyenv; +pe.Version +``` + +If this is not a version that you which to use you can alter this manually. Do note that you need to do this everytime before using the client! Once Python is loaded in matlab, you need to restart MATLAB first before changing it. Therefore, running the commands above will likely mean requiring a restart of MATLAB. + + +For Windows you can run for example: + +```matlab +pyenv('Version','your.version') +``` + +With *'your.version'* indicating the *'major.minor'* version number of you Python release, for example *'3.6'.* + + +On linux you need to refer to the path of your Python 3 installation,, for example: + +```matlab +pyenv('Version',"/usr/bin/python3") +``` + +You can also link to specific Python versions by altering the path. + + +Some more information can be found [here](). + +#### **Initial setup** + +When starting with this wrapper, first try to make a connection to the Cosys\-AirSim simulation. + +```matlab +vehicle_name = "airsimvehicle"; +airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451); +``` + +Now the client object can be used to run API methods from. All functions have some help text written for more information on them. + +## Example + +This example works well with the default [example settings](https://github.com/Cosys-Lab/Cosys-AirSim/blob/main/docs/settings_example.json) found in the docs folder op the Cosys\-AirSim repository. + + +This example will: + +- Connect to AirSim +- Get/set vehicle pose +- Get instance segmentation groundtruth table +- Get object pose(s) +- Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation)) + +Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class. + + +Do note the test script requires next to the toolboxes listed above in the Prerequisites the following Matlab toolboxes: + +- Lidar Toolbox +- Navigation Toolbox +- Robotics System Toolbox +- ROS Toolbox +- UAV Toolbox +#### Setup connection +```matlab + +%Define client +vehicle_name = "airsimvehicle"; +airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451); + +``` +#### Groundtruth labels +```matlab +% Get groundtruth look-up-table of all objects and their instance +% segmentation colors for the cameras and GPU LiDAR +groundtruthLUT = airSimClient.getInstanceSegmentationLUT(); + +``` +#### Get some poses +```matlab +% All poses are right handed coordinate system X Y Z and +% orientations are defined as quaternions W X Y Z. + +% Get poses of all objects in the scene, this takes a while for large +% scene so it is in comment by default +poses = airSimClient.getAllObjectPoses(false, false); + +% Get vehicle pose +vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name); +vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false); + +% Choose the object to get the pose from (this one is in the Blocks env) +chosenObject = "Cylinder3"; + +% Get its pose +objectPoseLocal = airSimClient.getObjectPose(chosenObject, true); +objectPoseWorld = airSimClient.getObjectPose(chosenObject, false); + +figure; +subplot(1, 2, 1); +plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on") +axis equal; +grid on; +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +title("Local Plot") + +subplot(1, 2, 2); +plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on") + +axis equal; +grid on; +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +title("World Plot") +drawnow + +% Set vehicle pose +airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, true, vehicle_name) +``` + +![figure_0.png](README_media/figure_0.png) + + +#### IMU sensor Data +```matlab + +imuSensorName = "imu"; +[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name) + +``` +#### Echo sensor data +```matlab +% Example plots passive echo pointcloud +% and its reflection directions as 3D quivers + +echoSensorName = "echo"; +enablePassive = true; +[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name); + +figure; +subplot(1, 2, 1); +if ~isempty(activePointCloud) + pcshow(activePointCloud, color="X", MarkerSize=50); +else + pcshow(pointCloud([0, 0, 0])); +end +title('Active Echo Sensor Pointcloud') +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +xlim([0 10]) +ylim([-10 10]) +zlim([-10 10]) + +subplot(1, 2, 2); +if ~isempty(passivePointCloud) + pcshow(passivePointCloud, color="X", MarkerSize=50); + hold on; + quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),... + passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2); + hold off +else + pcshow(pointCloud([0, 0, 0])); +end +title('Passive Echo Sensor Pointcloud') +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +xlim([0 10]) +ylim([-10 10]) +zlim([-10 10]) +drawnow +``` + +![figure_1.png](README_media/figure_1.png) + + +#### LiDAR sensor data +```matlab +% Example plots lidar pointcloud and getting the groundtruth labels +``` + +![figure_2.png](README_media/figure_2.png) + +```matlab + +lidarSensorName = "lidar"; +enableLabels = true; +[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name); + +figure; +if ~isempty(lidarPointCloud) + pcshow(lidarPointCloud, MarkerSize=50); +else + pcshow(pointCloud([0, 0, 0])); +end +title('LiDAR Pointcloud') +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +xlim([0 10]) +ylim([-10 10]) +zlim([-10 10]) +drawnow + +``` +#### GPU LiDAR sensor data +```matlab +% Example plots GPU lidar pointcloud with its RGB segmentation colors + +gpuLidarSensorName = "gpulidar"; +enableLabels = true; +[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name); + +figure; +if ~isempty(gpuLidarPointCloud) + pcshow(gpuLidarPointCloud, MarkerSize=50); +else + pcshow(pointCloud([0, 0, 0])); +end +title('GPU-Accelerated LiDAR Pointcloud') +xlabel("X (m)") +ylabel("Y (m)") +zlabel("Z (m)") +xlim([0 10]) +ylim([-10 10]) +zlim([-10 10]) +drawnow +``` + +![figure_3.png](README_media/figure_3.png) + + +#### Cameras +```matlab + +%% Get camera info +cameraSensorName = "frontcamera"; +[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name); + +%% Get single camera images +% Get images sequentially + +cameraSensorName = "front_center"; +[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name); +[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name); +[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name); +figure; +subplot(3, 1, 1); +imshow(rgbImage) +title("RGB Camera Image") +subplot(3, 1, 2); +imshow(segmentationImage) +title("Segmentation Camera Image") +subplot(3, 1, 3); +imshow(depthImage ./ max(max(depthImage)).* 255, gray) +title("Depth Camera Image") +drawnow + +``` + +![figure_4.png](README_media/figure_4.png) + +```matlab + +%% Get synced camera images +% By combining the image requests they will be synced +% and taken in the same frame + +cameraSensorName = "front_center"; +[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ... + [AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar], ... + vehicle_name, ["", "", ""]); +figure; +subplot(3, 1, 1); +imshow(images{1}) +title("Synced RGB Camera Image") +subplot(3, 1, 2); +imshow(images{2}) +title("Synced Segmentation Camera Image") +subplot(3, 1, 3); +imshow(images{3} ./ max(max(images{3})).* 255, gray) +title("Synced Depth Camera Image") +drawnow +``` + +![figure_5.png](README_media/figure_5.png) +## Example Two Drones + +This example works well with the settings file as in the comments below: + +``` +{ + "SeeDocsAt": "https://cosys-lab.github.io/settings/", + "SettingsVersion": 2, + "ClockSpeed": 1, + "LocalHostIp": "127.0.0.1", + "ApiServerPort": 41451, + "RpcEnabled": true, + "SimMode": "Multirotor", + "Vehicles": { + "Drone1": { + "VehicleType": "SimpleFlight", + "AllowAPIAlways": true, + "X": 0, + "Y": 0, + "Z": 0, + "Yaw": 0 + }, + "Drone2": { + "VehicleType": "SimpleFlight", + "AllowAPIAlways": true, + "X": 5, + "Y": 0, + "Z": 0, + "Yaw": 0 + } + } +} +``` +```matlab +airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451); + +airSimClient.setEnableApiControl("Drone1"); +airSimClient.setEnableApiControl("Drone2"); + +airSimClient.setEnableDroneArm("Drone1"); +airSimClient.setEnableDroneArm("Drone2"); + +airSimClient.takeoffAsync("Drone1", 20, true); +airSimClient.takeoffAsync("Drone2", 20, false); + +airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true); +airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true); + +airSimClient.landAsync("Drone1", 60, true); +airSimClient.landAsync("Drone2", 60, false); + +airSimClient.setDisableDroneArm("Drone1"); +airSimClient.setDisableDroneArm("Drone2"); + +airSimClient.setDisableApiControl("Drone1"); +airSimClient.setDisableApiControl("Drone2"); +``` diff --git a/Matlab/README_media/figure_0.png b/Matlab/README_media/figure_0.png new file mode 100644 index 0000000000000000000000000000000000000000..635732c520e24266c4e84000635e472b3782f55c GIT binary patch literal 11661 zcmeI2hf`Be)b|lliqe}%4M=Z-Ql!@(D7^$i3B5=cklvd#6%YtrAW}jSI-wU)dJzx; z3P=Z~NpGR#y*~5)5$`+mWadt0&fPut+|6ds?)iQa^>sDK$sUps5D<_**HkkkAh-nv zE&`IffaSK{x-0N?%hymtg`nyi%O(K<2f=eSW#d4rT_|Y-t2(A~AR|(oM4X@MQ8q#; zo5&765>0rx&Xsn@A?odhph`FirzXwaoH`{YLghqT92M0*>fo#0;G-x4Q0jw6$}n~k zaUK;arpzmhAl`Bdi~5V)s_G2$>I$0)-sax(pQ&*>t1|kXkNn%@{JY8)U!I&7>>9pC?S zR?lPsY>_07)FR=zRN4&c{~Q(}KHLUuR8g@c`o^@;gYf_HMhEr*Y_~X5sct2?sysHM z`{ykZ{(=IqDG||dDjDdI@Fa8o^QLb+_|KN0qyjvawA;bppSN2{0?z;&5N`s3x&$a& zDCwU!AXwu64fcOW_Wyxt;459@Fi7J!0E+)3Sk-kCj5(cko9WAbGA3tK5RTj2y1Cpl z{TffXho!h!xUu^)UhIlH-gMnx>PDvHjF?j;Oyqnwv?c6%Nc{SkoDuBTe>7UTy}GU& 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Cosys-AirSim Matlab Client

This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.

Dependencies

Usage

Configure Python for MATLAB

First you need to correctly link your installed Python installation to MATLAB, as by default this isn't always the latest version of Python 3 you installed. You can verify which Python is linked by running:
pe = pyenv;
pe.Version
If this is not a version that you which to use you can alter this manually. Do note that you need to do this everytime before using the clioent! Once Python is loaded in matlab, you need to restart MATLAB first before changing it. Therefore, running the commands above will likely mean requiring a restart of MATLAB.
For Windows you can run for example:
pyenv('Version','your.version')
With 'your.version' indicating the 'major.minor' version number of you Python release, for example '3.6'.
On linux you need to refer to the path of your Python 3 installation,, for example:
pyenv('Version',"/usr/bin/python3")
You can also link to specific Python versions by altering the path.
Some more information can be found here.

Initial setup

When starting with this wrapper, first try to make a connection to the Cosys-AirSim simulation.
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, ApiControl=false, IP="127.0.0.1", port=41451, vehicleName=vehicle_name);
Now the client object can be used to run API methods from. All functions have some help text written for more information on them.

Example

This example will:
  • Connect to AirSim
  • Get/set vehicle pose
  • Get instance segmentation groundtruth table
  • Get object pose(s)
  • Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation))
Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class.
Do note the test script requires next to the toolboxes listed above in the Prerequisites the following Matlab toolboxes:
  • Lidar Toolbox
  • Navigation Toolbox
  • Robotics System Toolbox
  • ROS Toolbox
  • UAV Toolbox

Setup connection

 
%Define client
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, ApiControl=false, IP="127.0.0.1", port=41451, vehicleName=vehicle_name);
 

Groundtruth labels

% Get groundtruth look-up-table of all objects and their instance
% segmentation colors for the cameras and GPU LiDAR
groundtruthLUT = airSimClient.getInstanceSegmentationLUT();
 

Get some poses

% All poses are right handed coordinate system X Y Z and
% orientations are defined as quaternions W X Y Z.
 
% Get poses of all objects in the scene, this takes a while for large
% scene so it is in comment by default
poses = airSimClient.getAllObjectPoses(false, false);
 
% Get vehicle pose
vehiclePoseLocal = airSimClient.getVehiclePose();
vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);
 
% Get an random object pose or choose if you know the name of one
useChosenObject = false;
chosenObject = "Cylinder3";
 
if useChosenObject
finalName = chosenObject;
else
randomIndex = randi(size(groundtruthLUT, 1), 1);
randomName = groundtruthLUT.name(randomIndex);
finalName = randomName;
end
 
objectPoseLocal = airSimClient.getObjectPose(finalName, true);
objectPoseWorld = airSimClient.getObjectPose(finalName, false);
 
figure;
subplot(1, 2, 1);
plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on")
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("Local Plot")
 
subplot(1, 2, 2);
plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on")
 
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("World Plot")
drawnow
 
%% Set vehicle pose
airSimClient.setVehiclePose(airSimClient.getVehiclePose().position + [1 1 0], airSimClient.getVehiclePose().orientation)
 

IMU sensor Data

 
imuSensorName = "imu";
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName);
 

Echo sensor data

% Example plots passive echo pointcloud
% and its reflection directions as 3D quivers
 
echoSensorName = "echo";
enablePassive = true;
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive);
 
figure;
subplot(1, 2, 1);
if ~isempty(activePointCloud)
pcshow(activePointCloud, color="X", MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('Active Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
 
subplot(1, 2, 2);
if ~isempty(passivePointCloud)
pcshow(passivePointCloud, color="X", MarkerSize=50);
hold on;
quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),...
passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
hold off
else
pcshow(pointCloud([0, 0, 0]));
end
title('Passive Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

LiDAR sensor data

% Example plots lidar pointcloud and getting the groundtruth labels
 
lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels);
 
figure;
if ~isempty(lidarPointCloud)
pcshow(lidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

GPU LiDAR sensor data

% Example plots GPU lidar pointcloud with its RGB segmentation colors
 
gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName);
 
figure;
if ~isempty(gpuLidarPointCloud)
pcshow(gpuLidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('GPU-Accelerated LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

Cameras

 
%% Get camera info
cameraSensorName = "frontcamera";
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName);
 
%% Get single camera images
% Get images sequentially
 
cameraSensorName = "front_center";
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar);
[annotationImage, annotationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Annotation, "TextureTestDirect");
figure;
subplot(4, 1, 1);
imshow(rgbImage)
title("RGB Camera Image")
subplot(4, 1, 2);
imshow(segmentationImage)
title("Segmentation Camera Image")
subplot(4, 1, 3);
imshow(depthImage ./ max(max(depthImage)).* 255, gray)
title("Depth Camera Image")
subplot(4, 1, 4);
imshow(annotationImage)
title("Annotation Camera Image")
drawnow
 
%% Get synced camera images
% By combining the image requests they will be synced
% and taken in the same frame
 
cameraSensorName = "front_center";
[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
[AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar, AirSimCameraTypes.Annotation], ...
["", "", "", "GreyscaleTest"]);
figure;
subplot(4, 1, 1);
imshow(images{1})
title("Synced RGB Camera Image")
subplot(4, 1, 2);
imshow(images{2})
title("Synced Segmentation Camera Image")
subplot(4, 1, 3);
imshow(images{3} ./ max(max(images{3})).* 255, gray)
title("Synced Depth Camera Image")
subplot(4, 1, 4);
imshow(images{4})
title("Synced Annotation Camera Image")
drawnow
 
-
- -
\ No newline at end of file diff --git a/Matlab/help/helptoc.xml b/Matlab/help/helptoc.xml deleted file mode 100644 index 403949a97..000000000 --- a/Matlab/help/helptoc.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - Documentation - - \ No newline at end of file diff --git a/Matlab/html/example.html b/Matlab/html/example.html deleted file mode 100644 index ffe7279c9..000000000 --- a/Matlab/html/example.html +++ /dev/null @@ -1,549 +0,0 @@ - - - - - -Example - - - - - - - -
-

Example

- -

This example works well with the default example settings found in the docs folder op the repository.

-

This example will: -Connect to AirSim -Get/set vehicle pose -Get instance segmentation groundtruth table -Get object pose(s) -Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation))

-

Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class.

-

Do note the test script requires next to the toolboxes listed in the Prerequisites the following Matlab toolboxes: -Lidar Toolbox -Navigation Toolbox -Robotics System Toolbox -ROS Toolbox -UAV Toolbox

- -

Contents

- -

Setup connection

-
-%Define client
-vehicle_name = "airsimvehicle";
-airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
-
-

Groundtruth labels

-

Get groundtruth look-up-table of all objects and their instance segmentation colors for the cameras and GPU LiDAR

-
groundtruthLUT = airSimClient.getInstanceSegmentationLUT();
-
-

Get some poses

-

All poses are right handed coordinate system X Y Z and orientations are defined as quaternions W X Y Z.

-
-% Get poses of all objects in the scene, this takes a while for large
-% scene so it is in comment by default
-poses = airSimClient.getAllObjectPoses(false, false);
-
-% Get vehicle pose
-vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name);
-vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);
-
-% Choose the object to get the pose from (this one is in the Blocks env)
-chosenObject = "Cylinder3";
-
-% Get its pose
-objectPoseLocal = airSimClient.getObjectPose(chosenObject, true);
-objectPoseWorld = airSimClient.getObjectPose(chosenObject, false);
-
-figure;
-subplot(1, 2, 1);
-plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on")
-axis equal;
-grid on;
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-title("Local Plot")
-
-subplot(1, 2, 2);
-plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on")
-
-axis equal;
-grid on;
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-title("World Plot")
-drawnow
-
-% Set vehicle pose
-airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, false, vehicle_name)
-
-

IMU sensor Data

-
imuSensorName = "imu";
-[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name)
-
-
-imuData = 
-
-  struct with fields:
-
-           orientation: [1.0000 5.9864e-05 -0.0029 0.0012]
-       angularVelocity: [0 0 0]
-    linearAcceleration: [0.0560 -0.0012 9.8065]
-
-
-imuTimestamp =
-
-   1.7278e+09
-
-
-

Echo sensor data

-

Example plots passive echo pointcloud and its reflection directions as 3D quivers

-
echoSensorName = "echo";
-enablePassive = true;
-[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name);
-
-figure;
-subplot(1, 2, 1);
-if ~isempty(activePointCloud)
-    pcshow(activePointCloud, color="X", MarkerSize=50);
-else
-    pcshow(pointCloud([0, 0, 0]));
-end
-title('Active Echo Sensor Pointcloud')
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-xlim([0 10])
-ylim([-10 10])
-zlim([-10 10])
-
-subplot(1, 2, 2);
-if ~isempty(passivePointCloud)
-    pcshow(passivePointCloud, color="X", MarkerSize=50);
-    hold on;
-    quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),...
-        passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
-    hold off
-else
-    pcshow(pointCloud([0, 0, 0]));
-end
-title('Passive Echo Sensor Pointcloud')
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-xlim([0 10])
-ylim([-10 10])
-zlim([-10 10])
-drawnow
-
-

LiDAR sensor data

-

Example plots lidar pointcloud and getting the groundtruth labels

-
lidarSensorName = "lidar";
-enableLabels = true;
-[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);
-
-figure;
-if ~isempty(lidarPointCloud)
-    pcshow(lidarPointCloud, MarkerSize=50);
-else
-    pcshow(pointCloud([0, 0, 0]));
-end
-title('LiDAR Pointcloud')
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-xlim([0 10])
-ylim([-10 10])
-zlim([-10 10])
-drawnow
-
-

GPU LiDAR sensor data

-

Example plots GPU lidar pointcloud with its RGB segmentation colors

-
gpuLidarSensorName = "gpulidar";
-enableLabels = true;
-[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name);
-
-figure;
-if ~isempty(gpuLidarPointCloud)
-    pcshow(gpuLidarPointCloud, MarkerSize=50);
-else
-    pcshow(pointCloud([0, 0, 0]));
-end
-title('GPU-Accelerated LiDAR Pointcloud')
-xlabel("X (m)")
-ylabel("Y (m)")
-zlabel("Z (m)")
-xlim([0 10])
-ylim([-10 10])
-zlim([-10 10])
-drawnow
-
-

Get camera info

-
cameraSensorName = "frontcamera";
-[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name);
-
-

Get single camera images

-

Get images sequentially

-
cameraSensorName = "front_center";
-[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name);
-[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name);
-[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name);
-[annotationImage, annotationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Annotation, vehicle_name, "TextureTestDirect");
-figure;
-subplot(4, 1, 1);
-imshow(rgbImage)
-title("RGB Camera Image")
-subplot(4, 1, 2);
-imshow(segmentationImage)
-title("Segmentation Camera Image")
-subplot(4, 1, 3);
-imshow(depthImage ./ max(max(depthImage)).* 255, gray)
-title("Depth Camera Image")
-subplot(4, 1, 4);
-imshow(annotationImage)
-title("Annotation Camera Image")
-drawnow
-
-

Get synced camera images

-

By combining the image requests they will be synced and taken in the same frame

-
cameraSensorName = "front_center";
-[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
-                                                         [AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar, AirSimCameraTypes.Annotation], ...
-                                                         vehicle_name, ["", "", "", "TextureTestDirect"]);
-figure;
-subplot(4, 1, 1);
-imshow(images{1})
-title("Synced RGB Camera Image")
-subplot(4, 1, 2);
-imshow(images{2})
-title("Synced Segmentation Camera Image")
-subplot(4, 1, 3);
-imshow(images{3} ./ max(max(images{3})).* 255, gray)
-title("Synced Depth Camera Image")
-subplot(4, 1, 4);
-imshow(images{4})
-title("Synced Annotation Camera Image")
-drawnow
-
-
Exception "java.lang.ClassNotFoundException: com/intellij/openapi/editor/RawText"while constructing DataFlavor for: application/x-java-jvm-local-objectref; class=com.intellij.openapi.editor.RawText
-Exception "java.lang.ClassNotFoundException: com/intellij/openapi/editor/RawText"while constructing DataFlavor for: application/x-java-jvm-local-objectref; class=com.intellij.openapi.editor.RawText
-
-

-
-Published with MATLAB® R2024a -
-

-
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a/Matlab/toolbox/doc/html/GettingStarted.html b/Matlab/toolbox/doc/html/GettingStarted.html new file mode 100644 index 000000000..1a58cf4c9 --- /dev/null +++ b/Matlab/toolbox/doc/html/GettingStarted.html @@ -0,0 +1,361 @@ + +Cosys-AirSim Matlab Client

 \ No newline at end of file diff --git a/Matlab/toolbox/examples/example.m b/Matlab/toolbox/examples/example.m index a5f54c404..4f5b6b87c 100644 --- a/Matlab/toolbox/examples/example.m +++ b/Matlab/toolbox/examples/example.m @@ -51,7 +51,7 @@ figure; subplot(1, 2, 1); -plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on") +plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on") axis equal; grid on; xlabel("X (m)") @@ -60,7 +60,7 @@ title("Local Plot") subplot(1, 2, 2); -plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; finalName], AxisLabels="on") +plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on") axis equal; grid on; @@ -71,7 +71,7 @@ drawnow % Set vehicle pose -airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, false, vehicle_name) +airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, true, vehicle_name) %% IMU sensor Data imuSensorName = "imu"; @@ -175,20 +175,16 @@ [rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name); [segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name); [depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name); -[annotationImage, annotationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Annotation, vehicle_name, "TextureTestDirect"); figure; -subplot(4, 1, 1); +subplot(3, 1, 1); imshow(rgbImage) title("RGB Camera Image") -subplot(4, 1, 2); +subplot(3, 1, 2); imshow(segmentationImage) title("Segmentation Camera Image") -subplot(4, 1, 3); +subplot(3, 1, 3); imshow(depthImage ./ max(max(depthImage)).* 255, gray) title("Depth Camera Image") -subplot(4, 1, 4); -imshow(annotationImage) -title("Annotation Camera Image") drawnow %% Get synced camera images @@ -196,19 +192,16 @@ cameraSensorName = "front_center"; [images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ... - [AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar, AirSimCameraTypes.Annotation], ... - vehicle_name, ["", "", "", "TextureTestDirect"]); + [AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar], ... + vehicle_name, ["", "", ""]); figure; -subplot(4, 1, 1); +subplot(3, 1, 1); imshow(images{1}) title("Synced RGB Camera Image") -subplot(4, 1, 2); +subplot(3, 1, 2); imshow(images{2}) title("Synced Segmentation Camera Image") -subplot(4, 1, 3); +subplot(3, 1, 3); imshow(images{3} ./ max(max(images{3})).* 255, gray) title("Synced Depth Camera Image") -subplot(4, 1, 4); -imshow(images{4}) -title("Synced Annotation Camera Image") drawnow \ No newline at end of file From 5ea73bf62ba9f029b1734c845a1530b60e25b29b Mon Sep 17 00:00:00 2001 From: Wouter Jansen Date: Fri, 10 Jul 2026 11:51:08 +0200 Subject: [PATCH 53/70] updated for 5.8 further --- CHANGELOG.md | 6 ++++-- .../Blocks/Config/DefaultEngine.ini | 1 + .../FlyingCPP/Maps/FlyingExampleMap.umap | Bin 5164440 -> 5147652 bytes 3 files changed, 5 insertions(+), 2 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 64af5a860..dec59209b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,11 +1,13 @@ -### Development (version 3.4) -* Added support for Unreal 5.8. This will become the next targeted stable Unreal Engine replacing 5.5 when Cosys-AirSim 3.4 releases. +### July 2026 (version 3.4) +* Added support for Unreal 5.8. +* Dropped support for LTS Unreal 5.2. Unable to maintain it with available resources right now. * Added unique index to each object name in the annotation system to avoid duplicate name overrides. * Added support with annotation system for (instanced) skeletal nanite meshes. * Updated annotation system to add both actor and component tags to the annotation system for checking if both exist instead of old behaviour where actor tags took priority and component tags would be ignored if both existed. * Updated annotation system to stop printing everything to log. * Updated default camera to use auto-focus. Manual focus still available through API. * Updated Docker tutorial to work better for recent Unreal versions. +* Updated Matlab Toolbox for new toolbox project file structure. * Fixed duplicate indexes for annotation system causing meshes to not show up in annotation masks. * Fixed several edge-cases and crashes in annotation system. * Fixed common crash on ending play. diff --git a/Unreal/Environments/Blocks/Config/DefaultEngine.ini b/Unreal/Environments/Blocks/Config/DefaultEngine.ini index ffddffc96..bbf45de09 100644 --- a/Unreal/Environments/Blocks/Config/DefaultEngine.ini +++ b/Unreal/Environments/Blocks/Config/DefaultEngine.ini @@ -125,6 +125,7 @@ r.Shadow.Virtual.Enable=1 r.Nanite.ProjectEnabled=True r.Vulkan.RayTracing=True r.Nanite.Foliage=True +r.RayTracing.RayTracingProxies.ProjectEnabled=True [/Script/LinuxTargetPlatform.LinuxTargetSettings] SpatializationPlugin= diff --git a/Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap 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b/Matlab/toolbox/doc/html/GettingStarted.html index 1a58cf4c9..d1c2e0652 100644 --- a/Matlab/toolbox/doc/html/GettingStarted.html +++ b/Matlab/toolbox/doc/html/GettingStarted.html @@ -18,7 +18,7 @@ .S14 { border-left: 0.8px solid rgb(217, 217, 217); border-right: 0.8px solid rgb(217, 217, 217); border-top: 0.8px solid rgb(217, 217, 217); border-bottom: 0.8px solid rgb(217, 217, 217); border-radius: 0px 0px 4px 4px; padding: 6px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, "Courier New", monospace, Menlo, Monaco, Consolas, "Courier New", monospace; font-size: 14px; } .S15 { border-left: 0.8px solid rgb(217, 217, 217); border-right: 0.8px solid rgb(217, 217, 217); border-top: 0.8px solid rgb(217, 217, 217); border-bottom: 0.8px solid rgb(217, 217, 217); border-radius: 4px 4px 0px 0px; padding: 6px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); 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Cosys-AirSim Matlab Client

This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.

Dependencies

  • MATLAB 2024a or higher with the associated supported Python version, 3.7 or higher with the Cosys-AirSim python module.
  • Computer Vision, Aerospace, Signal Processing Toolboxes
You can install the Cosys-AirSim Python client from pip (not from matlab console but with terminal/powershell/bash):
pip install cosysairsim

Usage

Configure Python for MATLAB

First you need to correctly link your installed Python installation to MATLAB, as by default this isn't always the latest version of Python 3 you installed. You can verify which Python is linked by running:
pe = pyenv;
pe.Version
If this is not a version that you which to use you can alter this manually. Do note that you need to do this everytime before using the client! Once Python is loaded in matlab, you need to restart MATLAB first before changing it. Therefore, running the commands above will likely mean requiring a restart of MATLAB.
For Windows you can run for example:
pyenv('Version','your.version')
With 'your.version' indicating the 'major.minor' version number of you Python release, for example '3.6'.
On linux you need to refer to the path of your Python 3 installation,, for example:
pyenv('Version',"/usr/bin/python3")
You can also link to specific Python versions by altering the path.
Some more information can be found here.

Initial setup

When starting with this wrapper, first try to make a connection to the Cosys-AirSim simulation.
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
Now the client object can be used to run API methods from. All functions have some help text written for more information on them.

Example

This example works well with the default example settings found in the docs folder op the Cosys-AirSim repository.
This example will:
  • Connect to AirSim
  • Get/set vehicle pose
  • Get instance segmentation groundtruth table
  • Get object pose(s)
  • Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation))
Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class.
Do note the test script requires next to the toolboxes listed above in the Prerequisites the following Matlab toolboxes:
  • Lidar Toolbox
  • Navigation Toolbox
  • Robotics System Toolbox
  • ROS Toolbox
  • UAV Toolbox

Setup connection

 
%Define client
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
 

Groundtruth labels

% Get groundtruth look-up-table of all objects and their instance
% segmentation colors for the cameras and GPU LiDAR
groundtruthLUT = airSimClient.getInstanceSegmentationLUT();
 

Get some poses

% All poses are right handed coordinate system X Y Z and
% orientations are defined as quaternions W X Y Z.
 
% Get poses of all objects in the scene, this takes a while for large
% scene so it is in comment by default
poses = airSimClient.getAllObjectPoses(false, false);
 
% Get vehicle pose
vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name);
vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);
 
% Choose the object to get the pose from (this one is in the Blocks env)
chosenObject = "Cylinder3";
 
% Get its pose
objectPoseLocal = airSimClient.getObjectPose(chosenObject, true);
objectPoseWorld = airSimClient.getObjectPose(chosenObject, false);
 
figure;
subplot(1, 2, 1);
plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("Local Plot")
 
subplot(1, 2, 2);
plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
 
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("World Plot")
drawnow
 
% Set vehicle pose
airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, true, vehicle_name)
 

IMU sensor Data

 
imuSensorName = "imu";
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name)
 

Echo sensor data

% Example plots passive echo pointcloud
% and its reflection directions as 3D quivers
 
echoSensorName = "echo";
enablePassive = true;
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name);
 
figure;
subplot(1, 2, 1);
if ~isempty(activePointCloud)
pcshow(activePointCloud, color="X", MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('Active Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
 
subplot(1, 2, 2);
if ~isempty(passivePointCloud)
pcshow(passivePointCloud, color="X", MarkerSize=50);
hold on;
quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),...
passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
hold off
else
pcshow(pointCloud([0, 0, 0]));
end
title('Passive Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

LiDAR sensor data

% Example plots lidar pointcloud and getting the groundtruth labels
 
lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);
 
figure;
if ~isempty(lidarPointCloud)
pcshow(lidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

GPU LiDAR sensor data

% Example plots GPU lidar pointcloud with its RGB segmentation colors
 
gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name);
 
figure;
if ~isempty(gpuLidarPointCloud)
pcshow(gpuLidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('GPU-Accelerated LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

Cameras

 
%% Get camera info
cameraSensorName = "frontcamera";
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name);
 
%% Get single camera images
% Get images sequentially
 
cameraSensorName = "front_center";
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name);
figure;
subplot(3, 1, 1);
imshow(rgbImage)
title("RGB Camera Image")
subplot(3, 1, 2);
imshow(segmentationImage)
title("Segmentation Camera Image")
subplot(3, 1, 3);
imshow(depthImage ./ max(max(depthImage)).* 255, gray)
title("Depth Camera Image")
drawnow
 
 
%% Get synced camera images
% By combining the image requests they will be synced
% and taken in the same frame
 
cameraSensorName = "front_center";
[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
[AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar], ...
vehicle_name, ["", "", ""]);
figure;
subplot(3, 1, 1);
imshow(images{1})
title("Synced RGB Camera Image")
subplot(3, 1, 2);
imshow(images{2})
title("Synced Segmentation Camera Image")
subplot(3, 1, 3);
imshow(images{3} ./ max(max(images{3})).* 255, gray)
title("Synced Depth Camera Image")
drawnow

Example Two Drones

This example works well with the settings file as in the comments below:
{
"SeeDocsAt": "https://cosys-lab.github.io/settings/",
"SettingsVersion": 2,
"ClockSpeed": 1,
"LocalHostIp": "127.0.0.1",
"ApiServerPort": 41451,
"RpcEnabled": true,
"SimMode": "Multirotor",
"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 0,
"Y": 0,
"Z": 0,
"Yaw": 0
},
"Drone2": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 5,
"Y": 0,
"Z": 0,
"Yaw": 0
}
}
}
airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);
 
airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");
 
airSimClient.setEnableDroneArm("Drone1");
airSimClient.setEnableDroneArm("Drone2");
 
airSimClient.takeoffAsync("Drone1", 20, true);
airSimClient.takeoffAsync("Drone2", 20, false);
 
airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true);
airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true);
 
airSimClient.landAsync("Drone1", 60, true);
airSimClient.landAsync("Drone2", 60, false);
 
airSimClient.setDisableDroneArm("Drone1");
airSimClient.setDisableDroneArm("Drone2");
 
airSimClient.setDisableApiControl("Drone1");
airSimClient.setDisableApiControl("Drone2");
+.S17 { border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, "Courier New", monospace; font-size: 12px; }

Cosys-AirSim Matlab Client

This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.

Dependencies

  • MATLAB 2024a or higher with the associated supported Python version, 3.7 or higher with the Cosys-AirSim python module.
  • Computer Vision, Aerospace, Signal Processing Toolboxes
You can install the Cosys-AirSim Python client from pip (not from matlab console but with terminal/powershell/bash):
pip install cosysairsim

Usage

Configure Python for MATLAB

First you need to correctly link your installed Python installation to MATLAB, as by default this isn't always the latest version of Python 3 you installed. You can verify which Python is linked by running:
pe = pyenv;
pe.Version
If this is not a version that you which to use you can alter this manually. Do note that you need to do this everytime before using the client! Once Python is loaded in matlab, you need to restart MATLAB first before changing it. Therefore, running the commands above will likely mean requiring a restart of MATLAB.
For Windows you can run for example:
pyenv('Version','your.version')
With 'your.version' indicating the 'major.minor' version number of you Python release, for example '3.6'.
On linux you need to refer to the path of your Python 3 installation,, for example:
pyenv('Version',"/usr/bin/python3")
You can also link to specific Python versions by altering the path.
Some more information can be found here.

Initial setup

When starting with this wrapper, first try to make a connection to the Cosys-AirSim simulation.
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
Now the client object can be used to run API methods from. All functions have some help text written for more information on them.

Example

This example works well with the default example settings found in the docs folder op the Cosys-AirSim repository.
This example will:
  • Connect to AirSim
  • Get/set vehicle pose
  • Get instance segmentation groundtruth table
  • Get object pose(s)
  • Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation))
Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class.
Do note the test script requires next to the toolboxes listed above in the Prerequisites the following Matlab toolboxes:
  • Lidar Toolbox
  • Navigation Toolbox
  • Robotics System Toolbox
  • ROS Toolbox
  • UAV Toolbox

Setup connection

 
%Define client
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
 

Groundtruth labels

% Get groundtruth look-up-table of all objects and their instance
% segmentation colors for the cameras and GPU LiDAR
groundtruthLUT = airSimClient.getInstanceSegmentationLUT();
 

Get some poses

% All poses are right handed coordinate system X Y Z and
% orientations are defined as quaternions W X Y Z.
 
% Get poses of all objects in the scene, this takes a while for large
% scene so it is in comment by default
poses = airSimClient.getAllObjectPoses(false, false);
 
% Get vehicle pose
vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name);
vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);
 
% Choose the object to get the pose from (this one is in the Blocks env)
chosenObject = "Cylinder3";
 
% Get its pose
objectPoseLocal = airSimClient.getObjectPose(chosenObject, true);
objectPoseWorld = airSimClient.getObjectPose(chosenObject, false);
 
figure;
subplot(1, 2, 1);
plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("Local Plot")
 
subplot(1, 2, 2);
plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
 
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("World Plot")
drawnow
 
% Set vehicle pose
airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, true, vehicle_name)
 

IMU sensor Data

 
imuSensorName = "imu";
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name)
 

Echo sensor data

% Example plots passive echo pointcloud
% and its reflection directions as 3D quivers
 
echoSensorName = "echo";
enablePassive = true;
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name);
 
figure;
subplot(1, 2, 1);
if ~isempty(activePointCloud)
pcshow(activePointCloud, color="X", MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('Active Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
 
subplot(1, 2, 2);
if ~isempty(passivePointCloud)
pcshow(passivePointCloud, color="X", MarkerSize=50);
hold on;
quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),...
passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
hold off
else
pcshow(pointCloud([0, 0, 0]));
end
title('Passive Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

LiDAR sensor data

% Example plots lidar pointcloud and getting the groundtruth labels
 
lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);
 
figure;
if ~isempty(lidarPointCloud)
pcshow(lidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

GPU LiDAR sensor data

% Example plots GPU lidar pointcloud with its RGB segmentation colors
 
gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name);
 
figure;
if ~isempty(gpuLidarPointCloud)
pcshow(gpuLidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('GPU-Accelerated LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

Cameras

 
%% Get camera info
cameraSensorName = "frontcamera";
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name);
 
%% Get single camera images
% Get images sequentially
 
cameraSensorName = "front_center";
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name);
figure;
subplot(3, 1, 1);
imshow(rgbImage)
title("RGB Camera Image")
subplot(3, 1, 2);
imshow(segmentationImage)
title("Segmentation Camera Image")
subplot(3, 1, 3);
imshow(depthImage ./ max(max(depthImage)).* 255, gray)
title("Depth Camera Image")
drawnow
 
 
%% Get synced camera images
% By combining the image requests they will be synced
% and taken in the same frame
 
cameraSensorName = "front_center";
[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
[AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar], ...
vehicle_name, ["", "", ""]);
figure;
subplot(3, 1, 1);
imshow(images{1})
title("Synced RGB Camera Image")
subplot(3, 1, 2);
imshow(images{2})
title("Synced Segmentation Camera Image")
subplot(3, 1, 3);
imshow(images{3} ./ max(max(images{3})).* 255, gray)
title("Synced Depth Camera Image")
drawnow

Example Two Drones

This example works well with the settings file as in the comments below:
{
"SeeDocsAt": "https://cosys-lab.github.io/settings/",
"SettingsVersion": 2,
"ClockSpeed": 1,
"LocalHostIp": "127.0.0.1",
"ApiServerPort": 41451,
"RpcEnabled": true,
"SimMode": "Multirotor",
"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 0,
"Y": 0,
"Z": 0,
"Yaw": 0
},
"Drone2": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 5,
"Y": 0,
"Z": 0,
"Yaw": 0
}
}
}
airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);
 
airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");
 
airSimClient.setEnableDroneArm("Drone1");
airSimClient.setEnableDroneArm("Drone2");
 
airSimClient.takeoffAsync("Drone1", 20, true);
airSimClient.takeoffAsync("Drone2", 20, false);
 
airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true);
airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true);
 
airSimClient.landAsync("Drone1", 60, true);
airSimClient.landAsync("Drone2", 60, false);
 
airSimClient.setDisableDroneArm("Drone1");
airSimClient.setDisableDroneArm("Drone2");
 
airSimClient.setDisableApiControl("Drone1");
airSimClient.setDisableApiControl("Drone2");

Cosys-AirSim Matlab Client

This a client implementation of the RPC API for Matlab for the Cosys-AirSim simulation framework. A main class AirSimClient is available which implements all API calls.
Do note that at this point not all functions have been tested and most function documentation was auto-generated. This is still a WIP client.

Dependencies

  • MATLAB 2024a or higher with the associated supported Python version, 3.7 or higher with the Cosys-AirSim python module.
  • Computer Vision, Aerospace, Signal Processing Toolboxes
You can install the Cosys-AirSim Python client from pip (not from matlab console but with terminal/powershell/bash):
pip install cosysairsim

Usage

Configure Python for MATLAB

First you need to correctly link your installed Python installation to MATLAB, as by default this isn't always the latest version of Python 3 you installed. You can verify which Python is linked by running:
pe = pyenv;
pe.Version
If this is not a version that you which to use you can alter this manually. Do note that you need to do this everytime before using the client! Once Python is loaded in matlab, you need to restart MATLAB first before changing it. Therefore, running the commands above will likely mean requiring a restart of MATLAB.
For Windows you can run for example:
pyenv('Version','your.version')
With 'your.version' indicating the 'major.minor' version number of you Python release, for example '3.6'.
On linux you need to refer to the path of your Python 3 installation,, for example:
pyenv('Version',"/usr/bin/python3")
You can also link to specific Python versions by altering the path.
Some more information can be found here.

Initial setup

When starting with this wrapper, first try to make a connection to the Cosys-AirSim simulation.
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
Now the client object can be used to run API methods from. All functions have some help text written for more information on them.

Example

This example works well with the default example settings found in the docs folder op the Cosys-AirSim repository.
This example will:
  • Connect to AirSim
  • Get/set vehicle pose
  • Get instance segmentation groundtruth table
  • Get object pose(s)
  • Get sensor data (imu, echo (active/passive), (gpu)LiDAR, camera (info, rgb, depth, segmentation, annotation))
Do note that the AirSim matlab client has almost all API functions available but not all are listed in this test script. For a full list see the source code fo the AirSimClient class.
Do note the test script requires next to the toolboxes listed above in the Prerequisites the following Matlab toolboxes:
  • Lidar Toolbox
  • Navigation Toolbox
  • Robotics System Toolbox
  • ROS Toolbox
  • UAV Toolbox

Setup connection

 
%Define client
vehicle_name = "airsimvehicle";
airSimClient = AirSimClient(IsDrone=false, IP="127.0.0.1", port=41451);
 

Groundtruth labels

% Get groundtruth look-up-table of all objects and their instance
% segmentation colors for the cameras and GPU LiDAR
groundtruthLUT = airSimClient.getInstanceSegmentationLUT();
 

Get some poses

% All poses are right handed coordinate system X Y Z and
% orientations are defined as quaternions W X Y Z.
 
% Get poses of all objects in the scene, this takes a while for large
% scene so it is in comment by default
poses = airSimClient.getAllObjectPoses(false, false);
 
% Get vehicle pose
vehiclePoseLocal = airSimClient.getVehiclePose(vehicle_name);
vehiclePoseWorld = airSimClient.getObjectPose(vehicle_name, false);
 
% Choose the object to get the pose from (this one is in the Blocks env)
chosenObject = "Cylinder3";
 
% Get its pose
objectPoseLocal = airSimClient.getObjectPose(chosenObject, true);
objectPoseWorld = airSimClient.getObjectPose(chosenObject, false);
 
figure;
subplot(1, 2, 1);
plotTransforms([vehiclePoseLocal.position; objectPoseLocal.position], [vehiclePoseLocal.orientation; objectPoseLocal.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("Local Plot")
 
subplot(1, 2, 2);
plotTransforms([vehiclePoseWorld.position; objectPoseWorld.position], [vehiclePoseWorld.orientation; objectPoseWorld.orientation], FrameLabel=["Vehicle"; chosenObject], AxisLabels="on")
 
axis equal;
grid on;
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
title("World Plot")
drawnow
 
% Set vehicle pose
airSimClient.setVehiclePose(airSimClient.getVehiclePose(vehicle_name).position + [1 1 0], airSimClient.getVehiclePose(vehicle_name).orientation, true, vehicle_name)
 

IMU sensor Data

 
imuSensorName = "imu";
[imuData, imuTimestamp] = airSimClient.getIMUData(imuSensorName, vehicle_name)
 

Echo sensor data

% Example plots passive echo pointcloud
% and its reflection directions as 3D quivers
 
echoSensorName = "echo";
enablePassive = true;
[activePointCloud, activeData, passivePointCloud, passiveData , echoTimestamp, echoSensorPose] = airSimClient.getEchoData(echoSensorName, enablePassive, vehicle_name);
 
figure;
subplot(1, 2, 1);
if ~isempty(activePointCloud)
pcshow(activePointCloud, color="X", MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('Active Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
 
subplot(1, 2, 2);
if ~isempty(passivePointCloud)
pcshow(passivePointCloud, color="X", MarkerSize=50);
hold on;
quiver3(passivePointCloud.Location(:, 1), passivePointCloud.Location(:, 2), passivePointCloud.Location(:, 3),...
passivePointCloud.Normal(:, 1), passivePointCloud.Normal(:, 2), passivePointCloud.Normal(:, 3), 2);
hold off
else
pcshow(pointCloud([0, 0, 0]));
end
title('Passive Echo Sensor Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

LiDAR sensor data

% Example plots lidar pointcloud and getting the groundtruth labels
 
lidarSensorName = "lidar";
enableLabels = true;
[lidarPointCloud, lidarLabels, LidarTimestamp, LidarSensorPose] = airSimClient.getLidarData(lidarSensorName, enableLabels, vehicle_name);
 
figure;
if ~isempty(lidarPointCloud)
pcshow(lidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

GPU LiDAR sensor data

% Example plots GPU lidar pointcloud with its RGB segmentation colors
 
gpuLidarSensorName = "gpulidar";
enableLabels = true;
[gpuLidarPointCloud, gpuLidarTimestamp, gpuLidarSensorPose] = airSimClient.getGPULidarData(gpuLidarSensorName, vehicle_name);
 
figure;
if ~isempty(gpuLidarPointCloud)
pcshow(gpuLidarPointCloud, MarkerSize=50);
else
pcshow(pointCloud([0, 0, 0]));
end
title('GPU-Accelerated LiDAR Pointcloud')
xlabel("X (m)")
ylabel("Y (m)")
zlabel("Z (m)")
xlim([0 10])
ylim([-10 10])
zlim([-10 10])
drawnow
 

Cameras

 
%% Get camera info
cameraSensorName = "frontcamera";
[intrinsics, cameraSensorPose] = airSimClient.getCameraInfo(cameraSensorName, vehicle_name);
 
%% Get single camera images
% Get images sequentially
 
cameraSensorName = "front_center";
[rgbImage, rgbCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Scene, vehicle_name);
[segmentationImage, segmentationCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.Segmentation,vehicle_name);
[depthImage, depthCameraIimestamp] = airSimClient.getCameraImage(cameraSensorName, AirSimCameraTypes.DepthPlanar,vehicle_name);
figure;
subplot(3, 1, 1);
imshow(rgbImage)
title("RGB Camera Image")
subplot(3, 1, 2);
imshow(segmentationImage)
title("Segmentation Camera Image")
subplot(3, 1, 3);
imshow(depthImage ./ max(max(depthImage)).* 255, gray)
title("Depth Camera Image")
drawnow
 
 
%% Get synced camera images
% By combining the image requests they will be synced
% and taken in the same frame
 
cameraSensorName = "front_center";
[images, cameraIimestamp] = airSimClient.getCameraImages(cameraSensorName, ...
[AirSimCameraTypes.Scene, AirSimCameraTypes.Segmentation, AirSimCameraTypes.DepthPlanar], ...
vehicle_name, ["", "", ""]);
figure;
subplot(3, 1, 1);
imshow(images{1})
title("Synced RGB Camera Image")
subplot(3, 1, 2);
imshow(images{2})
title("Synced Segmentation Camera Image")
subplot(3, 1, 3);
imshow(images{3} ./ max(max(images{3})).* 255, gray)
title("Synced Depth Camera Image")
drawnow

Example Two Drones

This example works well with the settings file as in the comments below:
{
"SeeDocsAt": "https://cosys-lab.github.io/settings/",
"SettingsVersion": 2,
"ClockSpeed": 1,
"LocalHostIp": "127.0.0.1",
"ApiServerPort": 41451,
"RpcEnabled": true,
"SimMode": "Multirotor",
"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 0,
"Y": 0,
"Z": 0,
"Yaw": 0
},
"Drone2": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 5,
"Y": 0,
"Z": 0,
"Yaw": 0
}
}
}
airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);
 
airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");
 
airSimClient.setEnableDroneArm("Drone1");
airSimClient.setEnableDroneArm("Drone2");
 
airSimClient.takeoffAsync("Drone1", 20, true);
airSimClient.takeoffAsync("Drone2", 20, false);
 
airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true);
airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true);
 
airSimClient.landAsync("Drone1", 60, true);
airSimClient.landAsync("Drone2", 60, false);
 
airSimClient.setDisableDroneArm("Drone1");
airSimClient.setDisableDroneArm("Drone2");
 
airSimClient.setDisableApiControl("Drone1");
airSimClient.setDisableApiControl("Drone2");
+
+ +