Feature/viz 2 1 5 support

docs/source/Vizard/VizardDownload.rst

@@ -40,14 +40,19 @@ On Window, install the bundle contents in::
 
     C:/Users/your_user_name/AppData/LocalLow/Vizard/Vizard/Resources/CustomModels
 
+Download the platform specific bundles file, unzip it, and move the contents to the ``CustomModels`` folder.
 
+.. note::
 
-.. list-table:: Unity 2020 Asset Download
-    :widths: 25 30 15 15 15
+    Vizard does not support sub-folders in the ``CustomModels`` folder.  All Unity asset files should
+    be directly installed in the ``CustomModels`` folder.
+
+.. list-table:: Unity 2020 Asset Download (Vizard 2.1.1 - 2.1.5)
+    :widths: 15 40 15 15 15
     :header-rows: 1
 
     * - Asset Name
-      - Description
+      - Summary
       -
       -
       -

docs/source/Vizard/vizardAdvanced/vizardCommandLine.rst

@@ -13,6 +13,11 @@ To launch an instance of the `Vizard <vizard>`_ application from the command lin
 
 The `Vizard <vizard>`_ application supports the following command line arguments:
 
+#. To launch `Vizard <vizard>`_ application and automatically load a playback binary Vizard data file,
+   use the ``-loadFile`` argument followed by the filepath::
+
+	open /Applications/Vizard.app --args -loadFile ~/filepath/filename.bin
+
 #. To launch `Vizard <vizard>`_ application in opNav mode, use the ``-opNav`` argument followed
    by the TCP address `Vizard <vizard>`_ should connect to::
 

docs/source/Vizard/vizardAdvanced/vizardSettings.rst

@@ -662,6 +662,11 @@ The following table illustrates the possible variables for the
       -
       - No
       - If true, commands camera to update Instrument Camera to current message's parameters
+    * - ``renderMode``
+      - int
+      -
+      - No
+      - Value of 0 to render visual image (default), value of 1 to render depth buffer to image
 
 
 

src/architecture/msgPayloadDefC/CameraConfigMsgPayload.h

@@ -41,6 +41,7 @@ typedef struct {
     double ppFocalLength;       //!< [m] (Optional) Valid setting range: 0.001m to 0.3m. Value of 0 to turn off this parameter entirely.
     int ppMaxBlurSize;          //!< (Optional) Convolution kernel size of the bokeh filter, which determines the maximum radius of bokeh. It also affects the performance (the larger the kernel is, the longer the GPU time is required). Depth textures Value of 1 for Small, 2 for Medium, 3 for Large, 4 for Extra Large. Value of 0 to turn off this parameter entirely.
     int updateCameraParameters; //!< If true, commands camera to update Instrument Camera to current message's parameters
+    int renderMode; //!< (Optional) Value of 0 to render visual image (default), value of 1 to render depth buffer to image
 }CameraConfigMsgPayload;
 
 #endif

src/simulation/vizard/vizInterface/vizInterface.cpp

@@ -986,6 +986,7 @@ void VizInterface::WriteProtobuffer(uint64_t CurrentSimNanos)
             camera->set_ppfocallength(this->cameraConfigBuffers[camCounter].ppFocalLength*1000.); // Unity expects mm
             camera->set_ppmaxblursize(this->cameraConfigBuffers[camCounter].ppMaxBlurSize);
             camera->set_updatecameraparameters(this->cameraConfigBuffers[camCounter].updateCameraParameters);
+            camera->set_rendermode(this->cameraConfigBuffers[camCounter].renderMode);
         }
     }
 

src/utilities/vizProtobuffer/vizMessage.proto

@@ -180,6 +180,7 @@ message VizMessage{
         double ppAperture = 13; //  (Optional) Ratio of the aperture (known as f-stop or f-number). The smaller the value is, the shallower the depth of field is. Valid Setting Range: 0.05 to 32. Value of 0 to leave this option off.
         double ppFocalLength = 14; // [mm] (Optional) Value of -1 to calculate the focal length automatically from the field-of-view value set on the camera, otherwise provide positive non-zero value in range. Valid setting range: 1mm to 300mm. Value of 0 to leave this option off.
         int64 ppMaxBlurSize = 15; //(Optional) Convolution kernel size of the bokeh filter, which determines the maximum radius of bokeh. It also affects the performance (the larger the kernel is, the longer the GPU time is required). Depth textures Value of 1 for Small, 2 for Medium, 3 for Large, 4 for Extra Large. Value of 0 to leave this option off.
+        int64 renderMode = 16; //(Optional) Value of 0 to render visual image (default), value of 1 to render depth buffer to image
 
     }
 
@@ -192,7 +193,7 @@ message VizMessage{
         repeated int32 lineColor = 3; //Send desired RGBA as values between 0 and 255
     }
 
-    message KeepOutInCone{//ONLY NEEDED IF KEEP OUT CONE DESIRED
+    message KeepOutInCone{//ONLY NEEDED IF KEEP OUT OR KEEP IN CONE DESIRED
         // ALL FIELDS CHECKED ONLY IN FIRST MESSAGE
         bool isKeepIn = 1; //True -> keep in cone created, False -> keep out cone created
         repeated double position = 2; //relative to from body coordinate frame
@@ -356,7 +357,7 @@ message VizMessage{
     TimeStamp currentTime = 1; //CHECKED EVERY MESSAGE
     repeated CelestialBody celestialBodies = 2; //CHECKED EVERY MESSAGE
     repeated Spacecraft spacecraft = 3; //CHECKED EVERY MESSAGE
-    repeated CameraConfig cameras = 4; //CHECKED FIRST MESSAGE ONLY
+    repeated CameraConfig cameras = 4; //CHECKED EVERY MESSAGE
     //repeated cameraImage cameraImages = 5;
     //repeated ImageRequest imageRequests = 6;
     VizSettingsPb settings = 7; //CHECKED FIRST MESSAGE ONLY

src/utilities/vizSupport.py

@@ -895,7 +895,9 @@ def createCameraConfigMsg(viz, **kwargs):
         return
     global firstSpacecraftName
     unitTestSupport.checkMethodKeyword(
-        ['cameraID', 'parentName', 'fieldOfView', 'resolution', 'renderRate', 'cameraPos_B', 'sigma_CB', 'skyBox', 'postProcessingOn', 'ppFocusDistance', 'ppAperture', 'ppFocalLength', 'ppMaxBlurSize', 'updateCameraParameters'],
+        ['cameraID', 'parentName', 'fieldOfView', 'resolution', 'renderRate', 'cameraPos_B',
+         'sigma_CB', 'skyBox', 'postProcessingOn', 'ppFocusDistance', 'ppAperture', 'ppFocalLength',
+         'ppMaxBlurSize', 'updateCameraParameters', 'renderMode'],
         kwargs)
 
     cameraConfigMsgPayload = messaging.CameraConfigMsgPayload()
@@ -1037,6 +1039,15 @@ def createCameraConfigMsg(viz, **kwargs):
     else:
         cameraConfigMsgPayload.cameraID = 0
 
+    if 'renderMode' in kwargs:
+        val = kwargs['renderMode']
+        if not isinstance(val, int) or val < 0:
+            print('ERROR: vizSupport: renderMode must be 0 or 1.')
+            exit(1)
+        cameraConfigMsgPayload.renderMode = val
+    else:
+        cameraConfigMsgPayload.renderMode = 0
+
     cameraConfigMsg = messaging.CameraConfigMsg().write(cameraConfigMsgPayload)
     cameraConfigMsg.this.disown()
     viz.addCamMsgToModule(cameraConfigMsg)