[plotting] add simFlushPersistentMarkers()

AirLib/include/api/RpcLibClientBase.hpp

@@ -60,6 +60,7 @@ class RpcLibClientBase {
  int simGetSegmentationObjectID(const std::string& mesh_name) const;
  void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
+ void simFlushPersistentMarkers();
  void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent);
  void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);
  void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent);

AirLib/include/api/WorldSimApiBase.hpp

@@ -43,6 +43,7 @@ class WorldSimApiBase {
  const std::string& message_param = "", unsigned char severity = 0) = 0;
 
  //----------- Plotting APIs ----------/
+ virtual void simFlushPersistentMarkers() = 0;
  virtual void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) = 0; 
  virtual void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0; 
  virtual void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) = 0; 

AirLib/src/api/RpcLibClientBase.cpp

@@ -242,6 +242,11 @@ void RpcLibClientBase::simPrintLogMessage(const std::string& message, std::strin
  pimpl_->client.call("simPrintLogMessage", message, message_param, severity);
 }
 
+void RpcLibClientBase::simFlushPersistentMarkers()
+{
+ pimpl_->client.call("simFlushPersistentMarkers");
+}
+
 void RpcLibClientBase::simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent)
 {
  vector<RpcLibAdapatorsBase::Vector3r> conv_points;

AirLib/src/api/RpcLibServerBase.cpp

@@ -222,6 +222,9 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
  return getWorldSimApi()->setObjectPose(object_name, pose.to(), teleport);
  });
 
+ pimpl_->server.bind("simFlushPersistentMarkers", [&]() -> void {
+ getWorldSimApi()->simFlushPersistentMarkers();
+ });
  pimpl_->server.bind("simPlotPoints", [&](const std::vector<RpcLibAdapatorsBase::Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) -> void {
  vector<Vector3r> conv_points;
  RpcLibAdapatorsBase::to(points, conv_points);

PythonClient/airsim/client.py

@@ -166,6 +166,12 @@ def simGetLidarSegmentation(self, lidar_name = '', vehicle_name = ''):
  return self.client.call('simGetLidarSegmentation', lidar_name, vehicle_name)
 
  # Plotting APIs
+ def simFlushPersistentMarkers(self):
+ """
+ Clear any persistent markers - those plotted with setting is_persistent=True in the APIs below
+ """
+ self.client.call('simFlushPersistentMarkers')
+
  def simPlotPoints(self, points, color_rgba=[1.0, 0.0, 0.0, 1.0], size = 10.0, duration = -1.0, is_persistent = False):
  """
  Plot a list of 3D points in World NED frame

PythonClient/computer_vision/plot_markers.py

@@ -40,11 +40,18 @@
 client.simPlotLineList(points = [Vector3r(x,y,-7) for x, y in zip(np.linspace(0,-10,10), np.linspace(0,-20,10))], color_rgba=[1.0, 0.0, 0.0, 1.0], thickness = 5, duration = 30.0, is_persistent = False)
 
 # plot transforms 
+client.simPlotStrings(strings = ["Microsoft AirSim" for i in range(5)], positions = [Vector3r(x,y,-2) for x, y in zip(np.linspace(0,-5,5), np.linspace(0,-5,5))], 
+ scale = 1, color_rgba=[1.0, 1.0, 1.0, 1.0], duration = 10.0)
+
 client.simPlotTransforms(poses = [Pose(position_val=Vector3r(x,y,-7), orientation_val=to_quaternion(pitch=0.0, roll=0.0, yaw=np.pi/2)) for x, y in zip(np.linspace(0,-10,10), np.linspace(0,-20,10))], 
  scale = 35, thickness = 5, duration = 10.0, is_persistent = False)
 
 client.simPlotTransforms(poses = [Pose(position_val=Vector3r(x,y,-5), orientation_val=to_quaternion(pitch=0.0, roll=0.0, yaw=0.0)) for x, y in zip(np.linspace(0,-10,10), np.linspace(0,-20,10))], 
  scale = 35, thickness = 5, duration = 10.0, is_persistent = False)
 
-client.simPlotStrings(strings = ["Microsoft AirSim" for i in range(5)], positions = [Vector3r(x,y,-2) for x, y in zip(np.linspace(0,-5,5), np.linspace(0,-5,5))], 
- scale = 1, color_rgba=[1.0, 1.0, 1.0, 1.0], duration = 10.0)
+client.simPlotTransformsWithNames(poses = [Pose(position_val=Vector3r(x,y,-1), orientation_val=to_quaternion(pitch=0.0, roll=0.0, yaw=0.0)) for x, y in zip(np.linspace(0,-10,10), np.linspace(0,-20,10))],
+ names=["transform_" + str(idx) for idx in range(10)], tf_scale = 45, tf_thickness = 3, text_scale = 2, text_color_rgba = [1.0, 1.0, 1.0, 1.0], duration = 1200.0)
+
+time.sleep(20.0)
+
+client.simFlushPersistentMarkers()

Unreal/Plugins/AirSim/Source/WorldSimApi.cpp

@@ -119,6 +119,11 @@ void WorldSimApi::setWeatherParameter(WeatherParameter param, float val)
 }
 
 //----------- Plotting APIs ----------/
+void WorldSimApi::simFlushPersistentMarkers()
+{
+ FlushPersistentDebugLines(simmode_->GetWorld());
+}
+
 void WorldSimApi::simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent)
 {
  FLinearColor color {color_rgba[0], color_rgba[1], color_rgba[2], color_rgba[3]};

Unreal/Plugins/AirSim/Source/WorldSimApi.h

@@ -36,6 +36,7 @@ class WorldSimApi : public msr::airlib::WorldSimApiBase {
  virtual bool setObjectPose(const std::string& object_name, const Pose& pose, bool teleport) override;
 
  //----------- Plotting APIs ----------/
+ virtual void simFlushPersistentMarkers() override;
  virtual void simPlotPoints(const vector<Vector3r>& points, const vector<float>& color_rgba, float size, float duration, bool is_persistent) override;
  virtual void simPlotLineStrip(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;
  virtual void simPlotLineList(const vector<Vector3r>& points, const vector<float>& color_rgba, float thickness, float duration, bool is_persistent) override;