Add object detection capability and python API

AirLib/AirLib.vcxproj.filters

@@ -321,7 +321,7 @@
     <ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\AirSimSimpleFlightEstimator.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdapators.hpp">
+    <ClInclude Include="include\vehicles\car\api\CarRpcLibAdaptors.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\car\api\CarRpcLibClient.hpp">
@@ -330,7 +330,7 @@
     <ClInclude Include="include\vehicles\car\api\CarRpcLibServer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdapators.hpp">
+    <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp">
@@ -339,7 +339,7 @@
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\api\RpcLibAdapatorsBase.hpp">
+    <ClInclude Include="include\api\RpcLibAdaptorsBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp">

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -1,8 +1,8 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef air_RpcLibAdapatorsBase_hpp
-#define air_RpcLibAdapatorsBase_hpp
+#ifndef air_RpcLibAdaptorsBase_hpp
+#define air_RpcLibAdaptorsBase_hpp
 
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
@@ -18,7 +18,7 @@
 
 namespace msr { namespace airlib_rpclib {
 
-class RpcLibAdapatorsBase {
+class RpcLibAdaptorsBase {
 public:
     template<typename TSrc, typename TDest>
     static void to(const std::vector<TSrc>& s, std::vector<TDest>& d)
@@ -36,6 +36,24 @@ class RpcLibAdapatorsBase {
             d.push_back(TDest(s.at(i)));
     }
 
+    struct Vector2r {
+        msr::airlib::real_T x_val = 0, y_val = 0;
+        MSGPACK_DEFINE_MAP(x_val, y_val);
+
+        Vector2r()
+        {}
+
+        Vector2r(const msr::airlib::Vector2r& s)
+        {
+            x_val = s.x();
+            y_val = s.y();
+        }
+        msr::airlib::Vector2r to() const
+        {
+            return msr::airlib::Vector2r(x_val, y_val);
+        }
+    };
+
     struct Vector3r {
         msr::airlib::real_T x_val = 0, y_val = 0, z_val = 0;
         MSGPACK_DEFINE_MAP(x_val, y_val, z_val);
@@ -221,6 +239,115 @@ class RpcLibAdapatorsBase {
         }
     };
 
+    struct Box2D
+    {
+        Vector2r min;
+        Vector2r max;
+
+        MSGPACK_DEFINE_MAP(min, max);
+
+        Box2D()
+        {}
+
+        Box2D(const msr::airlib::Box2D& s)
+        {
+            min = s.min;
+            max = s.max;
+        }
+
+        msr::airlib::Box2D to() const
+        {
+            msr::airlib::Box2D s;
+            s.min = min.to();
+            s.max = max.to();
+
+            return s;
+        }
+
+    };
+
+    struct Box3D
+    {
+        Vector3r min;
+        Vector3r max;
+
+        MSGPACK_DEFINE_MAP(min, max);
+
+        Box3D()
+        {}
+
+        Box3D(const msr::airlib::Box3D& s)
+        {
+            min = s.min;
+            max = s.max;
+        }
+
+        msr::airlib::Box3D to() const
+        {
+            msr::airlib::Box3D s;
+            s.min = min.to();
+            s.max = max.to();
+
+            return s;
+        }
+
+    };
+
+    struct DetectionInfo {
+        std::string name;
+        GeoPoint geo_point;
+        Box2D box2D;
+        Box3D box3D;
+        Pose relative_pose;
+
+        MSGPACK_DEFINE_MAP(name, geo_point, box2D, box3D, relative_pose);
+
+        DetectionInfo()
+        {
+        }
+
+        DetectionInfo(const msr::airlib::DetectionInfo& d)
+        {
+            name = d.name;
+            geo_point = d.geo_point;
+            box2D = d.box2D;
+            box3D = d.box3D;
+            relative_pose = d.relative_pose;
+        }
+
+        msr::airlib::DetectionInfo to() const
+        {
+            msr::airlib::DetectionInfo d;
+            d.name = name;
+            d.geo_point = geo_point.to();
+            d.box2D = box2D.to();
+            d.box3D = box3D.to();
+            d.relative_pose = relative_pose.to();
+
+            return d;
+        }
+
+        static std::vector<DetectionInfo> from(
+            const std::vector<msr::airlib::DetectionInfo>& request
+        ) {
+            std::vector<DetectionInfo> request_adaptor;
+            for (const auto& item : request)
+                request_adaptor.push_back(DetectionInfo(item));
+
+            return request_adaptor;
+        }
+        static std::vector<msr::airlib::DetectionInfo> to(
+            const std::vector<DetectionInfo>& request_adapter
+        ) {
+            std::vector<msr::airlib::DetectionInfo> request;
+            for (const auto& item : request_adapter)
+                request.push_back(item.to());
+
+            return request;
+        }
+
+    };
+
     struct CameraInfo {
         Pose pose;
         float fov;
@@ -248,7 +375,7 @@ class RpcLibAdapatorsBase {
             return s;
         }
     };
-    
+
     struct KinematicsState {
         Vector3r position;
         Quaternionr orientation;