Duplicate of Lidar Improvement PR from main AirSim Repo

.clang-format-ignore

@@ -0,0 +1,2 @@
+# Skip json.hpp since it is copied directly from external repo
+AirLib/include/common/common_utils/json.hpp

.github/ISSUE_TEMPLATE/bug_report.md

@@ -6,7 +6,7 @@ about: Create a report to help us improve
 <!-- Please read our Rules of Conduct: https://opensource.microsoft.com/codeofconduct/ -->
 <!-- Please search for existing issues to avoid creating duplicates. -->
 <!-- Incomplete reports will lead to closing the issue. -->
-<!-- Also, please test using the latest master make sure your issue has not already been fixed -->
+<!-- Also, please test using the latest main branch make sure your issue has not already been fixed -->
 
 ## Bug report 
 <!-- If any section does not apply, replace its contents with "N/A". -->

.github/stale.yml

@@ -1,10 +1,14 @@
-limitPerRun: 30
+limitPerRun: 1
 
 issues:
   daysUntilStale: 365
   daysUntilClose: 20
   exemptProjects: true
   exemptMilestones: true
+  # Issues with these labels will never be considered stale
+  exemptLabels:
+    - 'bug'
+    - 'feature request'
   staleLabel: stale
 
   markComment: >
@@ -13,4 +17,9 @@ issues:
     closed if no further activity occurs within 20 days.
   closeComment: >
     This issue has been automatically closed because it is has not had activity
-    from the community in the last year.
+    from the community in the last year.
+
+pulls:
+  daysUntilStale: 1000
+  daysUntilClose: 10
+  staleLabel: stale

.github/workflows/clang_format.yml

@@ -5,9 +5,10 @@ jobs:
     name: Formatting Check
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Run clang-format style check for C/C++ programs.
       uses: jidicula/clang-format-action@v4.4.1
       with:
         clang-format-version: '11'
         check-path: '.'
+        exclude-regex: 'AirLib\/include\/common\/common_utils\/json\.hpp'

.github/workflows/test_docs.yml

@@ -8,10 +8,10 @@ jobs:
     runs-on: ubuntu-latest
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup Python
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: '3.7'
           architecture: 'x64'
@@ -37,10 +37,10 @@ jobs:
       - name: Build AirSim Documentation
         run: ./build_docs.sh
 
-      # Only on commits to 'master' branch
+      # Only on commits to 'main' branch
       - name: Deploy
         uses: peaceiris/actions-gh-pages@v3
-        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
+        if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/main' }}
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./build_docs

.github/workflows/test_macos.yml

@@ -12,7 +12,7 @@ jobs:
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup
         run: ./setup.sh

.github/workflows/test_ubuntu.yml

@@ -11,7 +11,7 @@ jobs:
         os: [ubuntu-18.04, ubuntu-20.04]
 
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Setup
         run: ./setup.sh

.github/workflows/test_windows.yml

@@ -5,11 +5,11 @@ on: [push, pull_request, workflow_dispatch]
 
 jobs:
   build:
-    runs-on: windows-2019
+    runs-on: windows-2022
 
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v3
 
       - name: Enable Developer Command Prompt
         uses: ilammy/msvc-dev-cmd@v1

.gitignore

@@ -399,3 +399,6 @@ PythonClient/docs/_build
 
 # Docker
 /docker/Blocks/
+
+# clangd generated folder, for e.g. from VSCode clangd extension
+.cache/

AirLib/AirLib.vcxproj

@@ -205,40 +205,40 @@
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|Win32'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>true</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='RelWithDebInfo|x64'" Label="Configuration">
     <ConfigurationType>StaticLibrary</ConfigurationType>
     <UseDebugLibraries>false</UseDebugLibraries>
-    <PlatformToolset>v142</PlatformToolset>
+    <PlatformToolset>v143</PlatformToolset>
     <WholeProgramOptimization>true</WholeProgramOptimization>
     <CharacterSet>Unicode</CharacterSet>
   </PropertyGroup>

AirLib/include/api/RpcLibClientBase.hpp

@@ -77,9 +77,9 @@ namespace airlib
         int simGetSegmentationObjectID(const std::string& mesh_name) const;
         void simPrintLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0);
 
-        void simAddDetectionFilterMeshName(const std::string& camera_name, const std::string& mesh_name, const std::string& vehicle_name = "", bool external = false);
-        void simSetDetectionFilterRadius(const std::string& camera_name, const float radius_cm, const std::string& vehicle_name = "", bool external = false);
-        void simClearDetectionMeshNames(const std::string& camera_name, const std::string& vehicle_name = "", bool external = false);
+        void simAddDetectionFilterMeshName(const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& mesh_name, const std::string& vehicle_name = "", bool external = false);
+        void simSetDetectionFilterRadius(const std::string& camera_name, ImageCaptureBase::ImageType type, const float radius_cm, const std::string& vehicle_name = "", bool external = false);
+        void simClearDetectionMeshNames(const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name = "", bool external = false);
         vector<DetectionInfo> simGetDetections(const std::string& camera_name, ImageCaptureBase::ImageType image_type, const std::string& vehicle_name = "", bool external = false);
 
         void simFlushPersistentMarkers();
@@ -152,8 +152,8 @@ namespace airlib
         void simSetKinematics(const Kinematics::State& state, bool ignore_collision, const std::string& vehicle_name = "");
         msr::airlib::Environment::State simGetGroundTruthEnvironment(const std::string& vehicle_name = "") const;
         std::vector<std::string> simSwapTextures(const std::string& tags, int tex_id = 0, int component_id = 0, int material_id = 0);
-        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name);
-        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path);
+        bool simSetObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0);
+        bool simSetObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0);
 
         // Recording APIs
         void startRecording();

AirLib/include/api/WorldSimApiBase.hpp

@@ -74,8 +74,8 @@ namespace airlib
         virtual bool setObjectScale(const std::string& object_name, const Vector3r& scale) = 0;
         virtual std::unique_ptr<std::vector<std::string>> swapTextures(const std::string& tag, int tex_id = 0, int component_id = 0, int material_id = 0) = 0;
         virtual bool setLightIntensity(const std::string& light_name, float intensity) = 0;
-        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name) = 0;
-        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path) = 0;
+        virtual bool setObjectMaterial(const std::string& object_name, const std::string& material_name, const int component_id = 0) = 0;
+        virtual bool setObjectMaterialFromTexture(const std::string& object_name, const std::string& texture_path, const int component_id = 0) = 0;
         virtual vector<MeshPositionVertexBuffersResponse> getMeshPositionVertexBuffers() const = 0;
 
         virtual bool createVoxelGrid(const Vector3r& position, const int& x_size, const int& y_size, const int& z_size, const float& res, const std::string& output_file) = 0;