fix segmentation API threading issue

Author: sytelus

PythonClient/PythonClient.pyproj

@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>car_collision.py</StartupFile>
+    <StartupFile>segmentation.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>

PythonClient/segmentation.py

@@ -6,6 +6,16 @@
 client = CarClient()
 client.confirmConnection()
 
+AirSimClientBase.wait_key('Press any key to set all object IDs to 0')
+found = client.simSetSegmentationObjectID("[\w]*", 0, True);
+print("Done: %r" % (found))
+
+AirSimClientBase.wait_key('Press any key to set all object IDs to 0 hard way')
+alphabet = ['a','b','c','d','e','f','g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v','w','x','y','z']
+for letter in alphabet:
+    found = client.simSetSegmentationObjectID(letter+"[\w]*", 0, True);
+print("Done: %r" % (found))
+
 AirSimClientBase.wait_key('Press any key to change one ground object ID')
 found = client.simSetSegmentationObjectID("Ground", 20);
 print("Done: %r" % (found))
@@ -14,5 +24,11 @@
 found = client.simSetSegmentationObjectID("ground[\w]*", 22, True);
 print("Done: %r" % (found))
 
+found = client.simSetSegmentationObjectID("tree[\w]*", 2, True);
+found = client.simSetSegmentationObjectID("landscape[\w]*", 200, True);
+print("Done: %r" % (found))
+
+
+
 
 

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

@@ -58,7 +58,11 @@ class ACarPawn::CarApi : public msr::airlib::CarApiBase {
     virtual bool simSetSegmentationObjectID(const std::string& mesh_name, int object_id, 
         bool is_name_regex = false) override
     {
-        return UAirBlueprintLib::SetMeshStencilID(mesh_name, object_id, is_name_regex);
+        bool success;
+        UAirBlueprintLib::RunCommandOnGameThread([mesh_name, object_id, is_name_regex, &success]() {
+            success = UAirBlueprintLib::SetMeshStencilID(mesh_name, object_id, is_name_regex);
+        }, true);
+        return success;
     }
 
     virtual int simGetSegmentationObjectID(const std::string& mesh_name) override

Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp

@@ -238,7 +238,11 @@ Pose MultiRotorConnector::getPose()
 bool MultiRotorConnector::setSegmentationObjectID(const std::string& mesh_name, int object_id,
     bool is_name_regex)
 {
-    return UAirBlueprintLib::SetMeshStencilID(mesh_name, object_id, is_name_regex);
+    bool success;
+    UAirBlueprintLib::RunCommandOnGameThread([mesh_name, object_id, is_name_regex, &success]() {
+        success = UAirBlueprintLib::SetMeshStencilID(mesh_name, object_id, is_name_regex);
+    }, true);
+    return success;
 }
 
 int MultiRotorConnector::getSegmentationObjectID(const std::string& mesh_name)