From e6ab29c234aedc0468e69ff0ffd26a5ef4877ef3 Mon Sep 17 00:00:00 2001 From: Rajat Singhal Date: Sat, 13 Feb 2021 00:11:33 +0530 Subject: [PATCH] Fix some warnings, cleanup --- AirLib/include/api/WorldSimApiBase.hpp | 1 + Unreal/Plugins/AirSim/Source/PawnSimApi.h | 1 - Unreal/Plugins/AirSim/Source/WorldSimApi.cpp | 25 ++++++++++---------- Unreal/Plugins/AirSim/Source/WorldSimApi.h | 8 +++---- 4 files changed, 17 insertions(+), 18 deletions(-) diff --git a/AirLib/include/api/WorldSimApiBase.hpp b/AirLib/include/api/WorldSimApiBase.hpp index 859690b680..d5df57d98e 100644 --- a/AirLib/include/api/WorldSimApiBase.hpp +++ b/AirLib/include/api/WorldSimApiBase.hpp @@ -5,6 +5,7 @@ #define air_WorldSimApiBase_hpp #include "common/CommonStructs.hpp" +#include "common/ImageCaptureBase.hpp" namespace msr { namespace airlib { diff --git a/Unreal/Plugins/AirSim/Source/PawnSimApi.h b/Unreal/Plugins/AirSim/Source/PawnSimApi.h index dd9bda8064..1c8a5a4265 100644 --- a/Unreal/Plugins/AirSim/Source/PawnSimApi.h +++ b/Unreal/Plugins/AirSim/Source/PawnSimApi.h @@ -33,7 +33,6 @@ class PawnSimApi : public msr::airlib::VehicleSimApiBase { typedef msr::airlib::real_T real_T; typedef msr::airlib::Utils Utils; typedef msr::airlib::AirSimSettings::VehicleSetting VehicleSetting; - typedef msr::airlib::ImageCaptureBase ImageCaptureBase; struct Params { APawn* pawn; diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp index 1ff42ca337..98c93c3518 100644 --- a/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp +++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.cpp @@ -564,11 +564,11 @@ void WorldSimApi::setWind(const Vector3r& wind) const simmode_->setWind(wind); } -CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const +msr::airlib::CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std::string& vehicle_name, bool external) const { - CameraInfo info; - UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &info]() { - auto camera = simmode_->getCamera(camera_name, vehicle_name, external); + msr::airlib::CameraInfo info; + const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); + UAirBlueprintLib::RunCommandOnGameThread([camera, &info]() { info = camera->getCameraInfo(); }, true); @@ -578,8 +578,8 @@ CameraInfo WorldSimApi::getCameraInfo(const std::string& camera_name, const std: void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airlib::Pose& pose, const std::string& vehicle_name, bool external) { - UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &pose]() { - auto camera = simmode_->getCamera(camera_name, vehicle_name, external); + auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); + UAirBlueprintLib::RunCommandOnGameThread([camera, &pose]() { camera->setCameraPose(pose); }, true); } @@ -587,8 +587,8 @@ void WorldSimApi::setCameraPose(const std::string& camera_name, const msr::airli void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees, const std::string& vehicle_name, bool external) { - UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, &fov_degrees]() { - auto camera = simmode_->getCamera(camera_name, vehicle_name, external); + auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); + UAirBlueprintLib::RunCommandOnGameThread([camera, &fov_degrees]() { camera->setCameraFoV(fov_degrees); }, true); } @@ -596,9 +596,8 @@ void WorldSimApi::setCameraFoV(const std::string& camera_name, float fov_degrees void WorldSimApi::setDistortionParam(const std::string& camera_name, const std::string& param_name, float value, const std::string& vehicle_name, bool external) { - UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, - ¶m_name, &value]() { - auto camera = simmode_->getCamera(camera_name, vehicle_name, external); + auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); + UAirBlueprintLib::RunCommandOnGameThread([camera, ¶m_name, &value]() { camera->setDistortionParam(param_name, value); }, true); } @@ -606,8 +605,8 @@ void WorldSimApi::setDistortionParam(const std::string& camera_name, const std:: std::vector WorldSimApi::getDistortionParams(const std::string& camera_name, const std::string& vehicle_name, bool external) const { std::vector param_values; - UAirBlueprintLib::RunCommandOnGameThread([this, &camera_name, &vehicle_name, &external, ¶m_values]() { - auto camera = simmode_->getCamera(camera_name, vehicle_name, external); + const auto* camera = simmode_->getCamera(camera_name, vehicle_name, external); + UAirBlueprintLib::RunCommandOnGameThread([camera, ¶m_values]() { param_values = camera->getDistortionParams(); }, true); diff --git a/Unreal/Plugins/AirSim/Source/WorldSimApi.h b/Unreal/Plugins/AirSim/Source/WorldSimApi.h index ed529a423a..5f40146b94 100644 --- a/Unreal/Plugins/AirSim/Source/WorldSimApi.h +++ b/Unreal/Plugins/AirSim/Source/WorldSimApi.h @@ -80,10 +80,10 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase { virtual std::vector getDistortionParams(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false) const override; - std::vector getImages(const std::vector& requests, - const std::string& vehicle_name = "", bool external = false) const; - std::vector getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, - const std::string& vehicle_name = "", bool external = false) const; + virtual std::vector getImages(const std::vector& requests, + const std::string& vehicle_name = "", bool external = false) const override; + virtual std::vector getImage(const std::string& camera_name, ImageCaptureBase::ImageType image_type, + const std::string& vehicle_name = "", bool external = false) const override; private: AActor* createNewActor(const FActorSpawnParameters& spawn_params, const FTransform& actor_transform, const Vector3r& scale, UStaticMesh* static_mesh);