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add setting for overriding pixel format in capture component #4372

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merged 5 commits into from
Mar 8, 2022
Merged

add setting for overriding pixel format in capture component #4372

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41725b4
add setting for overriding pixel format
zimmy87 Feb 24, 2022
696e1d9
fix clang-format check
zimmy87 Mar 3, 2022
0a6cc90
responding to code review feedback
zimmy87 Mar 4, 2022
abda846
Update AirSimSettings.hpp
zimmy87 Mar 4, 2022
76f6dc2
Merge remote-tracking branch 'upstream/master' into fix-4339
zimmy87 Mar 4, 2022
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39 changes: 39 additions & 0 deletions AirLib/include/common/AirSimSettings.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -361,6 +361,17 @@ namespace airlib
float update_interval_secs = 60;
bool move_sun = true;
};

struct PixelFormatOverrideSetting
{
int image_type = 0;
int pixel_format = 0;
};

struct UnrealEngineSetting
{
std::map<int, PixelFormatOverrideSetting> pixel_format_override_settings;
};

private: //fields
float settings_version_actual;
Expand All @@ -374,6 +385,7 @@ namespace airlib
RecordingSetting recording_setting;
SegmentationSetting segmentation_setting;
TimeOfDaySetting tod_setting;
UnrealEngineSetting ue_setting;

std::vector<std::string> warning_messages;
std::vector<std::string> error_messages;
Expand Down Expand Up @@ -1147,6 +1159,33 @@ namespace airlib
tod_setting.move_sun = tod_settings_json.getBool("MoveSun", tod_setting.move_sun);
}
}

{ //unreal engine settings
Settings ue_settings_json;
if (settings_json.getChild("UnrealEngine", ue_settings_json)) {
Settings pixel_format_override_settings_json;
ue_setting.pixel_format_override_settings.clear();

for (int i = 0; i < 10; i++) {
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PixelFormatOverrideSetting pixel_format_setting;
pixel_format_setting.image_type = i;
pixel_format_setting.pixel_format = 0;
ue_setting.pixel_format_override_settings[i] = pixel_format_setting;
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}

if (ue_settings_json.getChild("PixelFormatOverride", pixel_format_override_settings_json)) {
for (size_t child_index = 0; child_index < pixel_format_override_settings_json.size(); ++child_index) {
Settings pixel_format_child_json;
if (pixel_format_override_settings_json.getChild(child_index, pixel_format_child_json)) {
int image_type = pixel_format_child_json.getInt("ImageType", 0);
PixelFormatOverrideSetting& pixel_format_setting = ue_setting.pixel_format_override_settings.at(image_type);
pixel_format_setting.image_type = image_type;
pixel_format_setting.pixel_format = pixel_format_child_json.getInt("PixelFormat", 0);
}
}
}
}
}

{
// Wind Settings
Expand Down
25 changes: 16 additions & 9 deletions Unreal/Plugins/AirSim/Source/PIPCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,16 +36,16 @@ APIPCamera::APIPCamera(const FObjectInitializer& ObjectInitializer)

PrimaryActorTick.bCanEverTick = true;

image_type_to_pixel_format_map_.Add(0, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(0, EPixelFormat::PF_B8G8R8A8);
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image_type_to_pixel_format_map_.Add(1, EPixelFormat::PF_DepthStencil); // not used. init_auto_format is called in setupCameraFromSettings()
image_type_to_pixel_format_map_.Add(2, EPixelFormat::PF_DepthStencil); // not used for same reason as above
image_type_to_pixel_format_map_.Add(3, EPixelFormat::PF_DepthStencil); // not used for same reason as above
image_type_to_pixel_format_map_.Add(4, EPixelFormat::PF_DepthStencil); // not used for same reason as above
image_type_to_pixel_format_map_.Add(5, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(6, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(7, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(8, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(9, EPixelFormat::PF_FloatRGBA);
image_type_to_pixel_format_map_.Add(5, EPixelFormat::PF_B8G8R8A8);
image_type_to_pixel_format_map_.Add(6, EPixelFormat::PF_B8G8R8A8);
image_type_to_pixel_format_map_.Add(7, EPixelFormat::PF_B8G8R8A8);
image_type_to_pixel_format_map_.Add(8, EPixelFormat::PF_B8G8R8A8);
image_type_to_pixel_format_map_.Add(9, EPixelFormat::PF_B8G8R8A8);

object_filter_ = FObjectFilter();
}
Expand Down Expand Up @@ -382,19 +382,26 @@ void APIPCamera::setupCameraFromSettings(const APIPCamera::CameraSetting& camera
const auto& noise_setting = camera_setting.noise_settings.at(image_type);

if (image_type >= 0) { //scene capture components
auto pixel_format_override = AirSimSettings::singleton().ue_setting.pixel_format_override_settings.find(image_type);
EPixelFormat pixel_format = EPixelFormat::PF_Unknown;
if (pixel_format_override != AirSimSettings::singleton().ue_setting.pixel_format_override_settings.end()) {
pixel_format = static_cast<EPixelFormat>(pixel_format_override->second.pixel_format);
}
pixel_format = (pixel_format == EPixelFormat::PF_Unknown ? image_type_to_pixel_format_map_[image_type] : pixel_format);

switch (Utils::toEnum<ImageType>(image_type)) {
case ImageType::Scene:
case ImageType::Infrared:
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], false, image_type_to_pixel_format_map_[image_type], capture_setting, ned_transform, false);
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], false, pixel_format, capture_setting, ned_transform, false);
break;

case ImageType::Segmentation:
case ImageType::SurfaceNormals:
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], true, image_type_to_pixel_format_map_[image_type], capture_setting, ned_transform, true);
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], true, pixel_format, capture_setting, ned_transform, true);
break;

default:
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], true, image_type_to_pixel_format_map_[image_type], capture_setting, ned_transform, false);
updateCaptureComponentSetting(captures_[image_type], render_targets_[image_type], true, pixel_format, capture_setting, ned_transform, false);
break;
}
setDistortionMaterial(image_type, captures_[image_type], captures_[image_type]->PostProcessSettings);
Expand Down