rename VehicleCameraBase -> ImageCaptureBase

AirLib/AirLib.vcxproj

@@ -65,7 +65,7 @@
     <ClInclude Include="include\common\UpdatableObject.hpp" />
     <ClInclude Include="include\common\VectorMath.hpp" />
     <ClInclude Include="include\common\common_utils\AsyncTasker.hpp" />
-    <ClInclude Include="include\controllers\VehicleCameraBase.hpp" />
+    <ClInclude Include="include\controllers\ImageCaptureBase.hpp" />
     <ClInclude Include="include\controllers\VehicleConnectorBase.hpp" />
     <ClInclude Include="include\vehicles\car\api\CarApiBase.hpp" />
     <ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdapators.hpp" />

AirLib/AirLib.vcxproj.filters

@@ -216,9 +216,6 @@
     <ClInclude Include="include\physics\DebugPhysicsBody.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="include\controllers\VehicleCameraBase.hpp">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="include\api\ControlServerBase.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -468,6 +465,9 @@
     <ClInclude Include="include\vehicles\multirotor\controllers\RealMultirotorConnector.hpp">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="include\controllers\ImageCaptureBase.hpp">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="src\safety\ObstacleMap.cpp">

AirLib/include/api/RpcLibAdapatorsBase.hpp

@@ -6,7 +6,7 @@
 
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 #include "safety/SafetyEval.hpp"
 #include "rpc/msgpack.hpp"
 
@@ -199,7 +199,7 @@ class RpcLibAdapatorsBase {
 
     struct ImageRequest {
         uint8_t camera_id;
-        msr::airlib::VehicleCameraBase::ImageType image_type;
+        msr::airlib::ImageCaptureBase::ImageType image_type;
         bool pixels_as_float;
         bool compress;
 
@@ -208,17 +208,17 @@ class RpcLibAdapatorsBase {
         ImageRequest()
         {}
 
-        ImageRequest(const msr::airlib::VehicleCameraBase::ImageRequest& s)
+        ImageRequest(const msr::airlib::ImageCaptureBase::ImageRequest& s)
         {
             camera_id = s.camera_id;
             image_type = s.image_type;
             pixels_as_float = s.pixels_as_float;
             compress = s.compress;
         }
 
-        msr::airlib::VehicleCameraBase::ImageRequest to() const
+        msr::airlib::ImageCaptureBase::ImageRequest to() const
         {
-            msr::airlib::VehicleCameraBase::ImageRequest d;
+            msr::airlib::ImageCaptureBase::ImageRequest d;
             d.camera_id = camera_id;
             d.image_type = image_type;
             d.pixels_as_float = pixels_as_float;
@@ -228,18 +228,18 @@ class RpcLibAdapatorsBase {
         }
 
         static std::vector<ImageRequest> from(
-            const std::vector<msr::airlib::VehicleCameraBase::ImageRequest>& request
+            const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& request
         ) {
             std::vector<ImageRequest> request_adaptor;
             for (const auto& item : request)
                 request_adaptor.push_back(ImageRequest(item));
 
             return request_adaptor;
         }
-        static std::vector<msr::airlib::VehicleCameraBase::ImageRequest> to(
+        static std::vector<msr::airlib::ImageCaptureBase::ImageRequest> to(
             const std::vector<ImageRequest>& request_adapter
         ) {
-            std::vector<msr::airlib::VehicleCameraBase::ImageRequest> request;
+            std::vector<msr::airlib::ImageCaptureBase::ImageRequest> request;
             for (const auto& item : request_adapter)
                 request.push_back(item.to());
 
@@ -258,15 +258,15 @@ class RpcLibAdapatorsBase {
         bool pixels_as_float;
         bool compress;
         int width, height;
-        msr::airlib::VehicleCameraBase::ImageType image_type;
+        msr::airlib::ImageCaptureBase::ImageType image_type;
 
         MSGPACK_DEFINE_MAP(image_data_uint8, image_data_float, camera_position, 
             camera_orientation, time_stamp, message, pixels_as_float, compress, width, height, image_type);
 
         ImageResponse()
         {}
 
-        ImageResponse(const msr::airlib::VehicleCameraBase::ImageResponse& s)
+        ImageResponse(const msr::airlib::ImageCaptureBase::ImageResponse& s)
         {
             pixels_as_float = s.pixels_as_float;
 
@@ -289,9 +289,9 @@ class RpcLibAdapatorsBase {
             image_type = s.image_type;
         }
 
-        msr::airlib::VehicleCameraBase::ImageResponse to() const
+        msr::airlib::ImageCaptureBase::ImageResponse to() const
         {
-            msr::airlib::VehicleCameraBase::ImageResponse d;
+            msr::airlib::ImageCaptureBase::ImageResponse d;
 
             d.pixels_as_float = pixels_as_float;
 
@@ -312,17 +312,17 @@ class RpcLibAdapatorsBase {
             return d;
         }
 
-        static std::vector<msr::airlib::VehicleCameraBase::ImageResponse> to(
+        static std::vector<msr::airlib::ImageCaptureBase::ImageResponse> to(
             const std::vector<ImageResponse>& response_adapter
         ) {
-            std::vector<msr::airlib::VehicleCameraBase::ImageResponse> response;
+            std::vector<msr::airlib::ImageCaptureBase::ImageResponse> response;
             for (const auto& item : response_adapter)
                 response.push_back(item.to());
 
             return response;
         }
         static std::vector<ImageResponse> from(
-            const std::vector<msr::airlib::VehicleCameraBase::ImageResponse>& response
+            const std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& response
         ) {
             std::vector<ImageResponse> response_adapter;
             for (const auto& item : response)
@@ -337,7 +337,7 @@ class RpcLibAdapatorsBase {
 
 MSGPACK_ADD_ENUM(msr::airlib::SafetyEval::SafetyViolationType_);
 MSGPACK_ADD_ENUM(msr::airlib::SafetyEval::ObsAvoidanceStrategy);
-MSGPACK_ADD_ENUM(msr::airlib::VehicleCameraBase::ImageType);
+MSGPACK_ADD_ENUM(msr::airlib::ImageCaptureBase::ImageType);
 
 
 #endif

AirLib/include/api/RpcLibClientBase.hpp

@@ -6,7 +6,7 @@
 
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 
 
 namespace msr { namespace airlib {
@@ -21,8 +21,8 @@ class RpcLibClientBase {
     ConnectionState getConnectionState();
     bool ping();
 
-    vector<VehicleCameraBase::ImageResponse> simGetImages(vector<VehicleCameraBase::ImageRequest> request);
-    vector<uint8_t> simGetImage(int camera_id, VehicleCameraBase::ImageType type);
+    vector<ImageCaptureBase::ImageResponse> simGetImages(vector<ImageCaptureBase::ImageRequest> request);
+    vector<uint8_t> simGetImage(int camera_id, ImageCaptureBase::ImageType type);
     msr::airlib::GeoPoint getHomeGeoPoint();
 
     void simSetPose(const Pose& pose, bool ignore_collision);

AirLib/include/api/VehicleApiBase.hpp

@@ -5,7 +5,7 @@
 #define air_VehicleApiBase_hpp
 
 #include "common/CommonStructs.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 
 namespace msr { namespace airlib {
 
@@ -17,8 +17,8 @@ class VehicleApiBase {
     virtual bool isApiControlEnabled() const = 0;
     virtual void reset() = 0;
 
-    virtual vector<VehicleCameraBase::ImageResponse> simGetImages(const vector<VehicleCameraBase::ImageRequest>& request) = 0;
-    virtual vector<uint8_t> simGetImage(uint8_t camera_id, VehicleCameraBase::ImageType image_type) = 0;
+    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& request) = 0;
+    virtual vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) = 0;
 
     virtual void simSetPose(const Pose& pose, bool ignore_collision) = 0;
     virtual Pose simGetPose() = 0;

AirLib/include/controllers/VehicleCameraBase.hpp → AirLib/include/controllers/ImageCaptureBase.hpp

@@ -1,16 +1,16 @@
 // Copyright (c) Microsoft Corporation. All rights reserved.
 // Licensed under the MIT License.
 
-#ifndef air_VehicleCameraBase_hpp
-#define air_VehicleCameraBase_hpp
+#ifndef air_ImageCaptureBase_hpp
+#define air_ImageCaptureBase_hpp
 
 #include "common/Common.hpp"
 #include "common/common_utils/EnumFlags.hpp"
 
 namespace msr { namespace airlib {
 
 // This is an abstraction for cameras associated with a vehicle.  Each camera has a unique id.
-class VehicleCameraBase
+class ImageCaptureBase
 {
 public: //types
     enum class ImageType : uint { //this indexes to array
@@ -26,14 +26,14 @@ class VehicleCameraBase
 
     struct ImageRequest {
         uint8_t camera_id;
-        VehicleCameraBase::ImageType image_type;
+        ImageCaptureBase::ImageType image_type;
         bool pixels_as_float;
         bool compress;
 
         ImageRequest()
         {}
 
-        ImageRequest(uint8_t camera_id_val, VehicleCameraBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
+        ImageRequest(uint8_t camera_id_val, ImageCaptureBase::ImageType image_type_val, bool pixels_as_float_val = false, bool compress_val = true)
         {
             camera_id = camera_id_val;
             image_type = image_type_val;

AirLib/include/controllers/VehicleConnectorBase.hpp

@@ -5,7 +5,7 @@
 #define air_VehicleConnectorBase_hpp
 
 #include "VehicleControllerBase.hpp"
-#include "VehicleCameraBase.hpp"
+#include "ImageCaptureBase.hpp"
 #include "common/UpdatableObject.hpp"
 
 namespace msr { namespace airlib {
@@ -25,7 +25,7 @@ class VehicleConnectorBase : public UpdatableObject
     virtual void stopApiServer() = 0;
     virtual bool isApiServerStarted() = 0;
     virtual VehicleControllerBase* getController() = 0;
-    virtual VehicleCameraBase* getCamera(unsigned int index) = 0;
+    virtual ImageCaptureBase* getCamera(unsigned int index) = 0;
     virtual void setPose(const Pose& pose, bool ignore_collision) = 0;
     virtual Pose getPose() = 0;
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id,

AirLib/include/vehicles/car/api/CarApiBase.hpp

@@ -4,7 +4,7 @@
 #ifndef air_CarApiBase_hpp
 #define air_CarApiBase_hpp
 
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 #include "common/VectorMath.hpp"
 #include "common/CommonStructs.hpp"
 #include "api/VehicleApiBase.hpp"

AirLib/include/vehicles/car/api/CarRpcLibAdapators.hpp

@@ -7,7 +7,7 @@
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
 #include "api/RpcLibAdapatorsBase.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 #include "vehicles/car/api/CarApiBase.hpp"
 #include "rpc/msgpack.hpp"
 

AirLib/include/vehicles/car/api/CarRpcLibClient.hpp

@@ -9,7 +9,7 @@
 #include "common/CommonStructs.hpp"
 #include "vehicles/car/api/CarApiBase.hpp"
 #include "api/RpcLibClientBase.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 
 
 namespace msr { namespace airlib {

AirLib/include/vehicles/multirotor/api/DroneApi.hpp

@@ -251,22 +251,22 @@ class DroneApi : public VehicleApiBase {
         controller_->enableApiControl(is_enabled);
     }
 
-    virtual vector<VehicleCameraBase::ImageResponse> simGetImages(const vector<VehicleCameraBase::ImageRequest>& request) override
+    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& request) override
     {
-        vector<VehicleCameraBase::ImageResponse> response;
+        vector<ImageCaptureBase::ImageResponse> response;
 
         for (const auto& item : request) {
-            VehicleCameraBase* camera = vehicle_->getCamera(item.camera_id);
+            ImageCaptureBase* camera = vehicle_->getCamera(item.camera_id);
             const auto& item_response = camera->getImage(item.image_type, item.pixels_as_float, item.compress);
             response.push_back(item_response);
         }
 
         return response;
     }
-    virtual vector<uint8_t> simGetImage(uint8_t camera_id, VehicleCameraBase::ImageType image_type) override
+    virtual vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) override
     {
-        vector<VehicleCameraBase::ImageRequest> request = { VehicleCameraBase::ImageRequest(camera_id, image_type)};
-        const vector<VehicleCameraBase::ImageResponse>& response = simGetImages(request);
+        vector<ImageCaptureBase::ImageRequest> request = { ImageCaptureBase::ImageRequest(camera_id, image_type)};
+        const vector<ImageCaptureBase::ImageResponse>& response = simGetImages(request);
         if (response.size() > 0)
             return response.at(0).image_data_uint8;
         else 

AirLib/include/vehicles/multirotor/api/MultirotorRpcLibAdapators.hpp

@@ -9,7 +9,7 @@
 #include "api/RpcLibAdapatorsBase.hpp"
 #include "vehicles/multirotor/controllers/DroneCommon.hpp"
 #include "vehicles/multirotor/controllers/DroneControllerBase.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 #include "safety/SafetyEval.hpp"
 #include "rpc/msgpack.hpp"
 

AirLib/include/vehicles/multirotor/api/MultirotorRpcLibClient.hpp

@@ -7,7 +7,7 @@
 #include "common/Common.hpp"
 #include <functional>
 #include "common/CommonStructs.hpp"
-#include "controllers/VehicleCameraBase.hpp"
+#include "controllers/ImageCaptureBase.hpp"
 #include "vehicles/multirotor/controllers/DroneControllerBase.hpp"
 #include "api/RpcLibClientBase.hpp"
 #include "vehicles/multirotor/controllers/DroneCommon.hpp"

AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp

@@ -44,7 +44,7 @@ class RealMultirotorConnector : public VehicleConnectorBase
         return controller_;
     }
 
-    virtual VehicleCameraBase* getCamera(unsigned int index) override
+    virtual ImageCaptureBase* getCamera(unsigned int index) override
     {
         //TODO: we need to support this but with only scene image type
         throw std::logic_error("getCamera() call is only supported for simulation");

AirLib/src/api/RpcLibClientBase.cpp

@@ -91,15 +91,15 @@ Pose RpcLibClientBase::simGetPose()
 {
     return pimpl_->client.call("simGetPose").as<RpcLibAdapatorsBase::Pose>().to();
 }
-vector<VehicleCameraBase::ImageResponse> RpcLibClientBase::simGetImages(vector<VehicleCameraBase::ImageRequest> request)
+vector<ImageCaptureBase::ImageResponse> RpcLibClientBase::simGetImages(vector<ImageCaptureBase::ImageRequest> request)
 {
     const auto& response_adaptor = pimpl_->client.call("simGetImages", 
         RpcLibAdapatorsBase::ImageRequest::from(request))
         .as<vector<RpcLibAdapatorsBase::ImageResponse>>();
 
     return RpcLibAdapatorsBase::ImageResponse::to(response_adaptor);
 }
-vector<uint8_t> RpcLibClientBase::simGetImage(int camera_id, VehicleCameraBase::ImageType type)
+vector<uint8_t> RpcLibClientBase::simGetImage(int camera_id, ImageCaptureBase::ImageType type)
 {
     vector<uint8_t> result = pimpl_->client.call("simGetImage", camera_id, type).as<vector<uint8_t>>();
     if (result.size() == 1) {

AirLib/src/api/RpcLibServerBase.cpp

@@ -60,7 +60,7 @@ RpcLibServerBase::RpcLibServerBase(VehicleApiBase* vehicle, string server_addres
         const auto& response = vehicle_->simGetImages(RpcLibAdapatorsBase::ImageRequest::to(request_adapter));
         return RpcLibAdapatorsBase::ImageResponse::from(response);
     });
-    pimpl_->server.bind("simGetImage", [&](uint8_t camera_id, VehicleCameraBase::ImageType type) -> vector<uint8_t> {
+    pimpl_->server.bind("simGetImage", [&](uint8_t camera_id, ImageCaptureBase::ImageType type) -> vector<uint8_t> {
         auto result = vehicle_->simGetImage(camera_id, type);
         if (result.size() == 0) {
             // rpclib has a bug with serializing empty vectors, so we return a 1 byte vector instead.

Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp

@@ -9,13 +9,13 @@ CarPawnApi::CarPawnApi(VehiclePawnWrapper* pawn, UWheeledVehicleMovementComponen
 {
 }
 
-std::vector<VehicleCameraBase::ImageResponse> CarPawnApi::simGetImages(
-    const std::vector<VehicleCameraBase::ImageRequest>& request)
+std::vector<ImageCaptureBase::ImageResponse> CarPawnApi::simGetImages(
+    const std::vector<ImageCaptureBase::ImageRequest>& request)
 {
-    std::vector<VehicleCameraBase::ImageResponse> response;
+    std::vector<ImageCaptureBase::ImageResponse> response;
 
     for (const auto& item : request) {
-        VehicleCameraBase* camera = pawn_->getCameraConnector(item.camera_id);
+        ImageCaptureBase* camera = pawn_->getCameraConnector(item.camera_id);
         const auto& item_response = camera->getImage(item.image_type, item.pixels_as_float, item.compress);
         response.push_back(item_response);
     }
@@ -48,10 +48,10 @@ msr::airlib::CollisionInfo CarPawnApi::getCollisionInfo()
     return pawn_->getCollisionInfo();
 }
 
-std::vector<uint8_t> CarPawnApi::simGetImage(uint8_t camera_id, VehicleCameraBase::ImageType image_type)
+std::vector<uint8_t> CarPawnApi::simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type)
 {
-    std::vector<VehicleCameraBase::ImageRequest> request = { VehicleCameraBase::ImageRequest(camera_id, image_type) };
-    const std::vector<VehicleCameraBase::ImageResponse>& response = simGetImages(request);
+    std::vector<ImageCaptureBase::ImageRequest> request = { ImageCaptureBase::ImageRequest(camera_id, image_type) };
+    const std::vector<ImageCaptureBase::ImageResponse>& response = simGetImages(request);
     if (response.size() > 0)
         return response.at(0).image_data_uint8;
     else