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commands.txt
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commands.txt
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Usage: esmini [options]
Options:
--osc <filename>
OpenSCENARIO filename (required) - if path includes spaces, enclose with ""
--aa_mode <mode>
Anti-alias mode=number of multisamples (subsamples, 0=off, 4=default)
--bounding_boxes
Show entities as bounding boxes (toggle modes on key ',')
--capture_screen
Continuous screen capture. Warning: Many jpeg files will be created
--camera_mode <mode>
Initial camera mode ("orbit" (default), "fixed", "flex", "flex-orbit", "top", "driver", "custom") (swith with key 'k')
--csv_logger <csv_filename>
Log data for each vehicle in ASCII csv format
--collision
Enable global collision detection, potentially reducing performance
--custom_camera <position>
Additional custom camera position <x,y,z>[,h,p] (multiple occurrences supported)
--custom_fixed_camera <position and optional orientation>
Additional custom fixed camera position <x,y,z>[,h,p] (multiple occurrences supported)
--custom_fixed_top_camera <position and rotation>
Additional custom top camera <x,y,z,rot> (multiple occurrences supported)
--custom_light <position and intensity>
Additional custom light source <x,y,z,intensity> intensity range 0..1 (multiple occurrences supported)
--disable_controllers
Disable controllers
--disable_pline_interpolation
Do not apply orientation interpolation of polyline trajectories
--disable_log
Prevent logfile from being created
--disable_stdout
Prevent messages to stdout
--enforce_generate_model
Generate road 3D model even if SceneGraphFile is specified
--fixed_timestep <timestep>
Run simulation decoupled from realtime, with specified timesteps
--follow_object <index>
Set index of intial object for camera to follow (change with Tab/shift-Tab)
--generate_no_road_objects
Do not generate any OpenDRIVE road objects (e.g. when part of referred 3D model)
--generate_without_textures
Do not apply textures on any generated road model (set colors instead as for missing textures)
--ground_plane
Add a large flat ground surface
--headless
Run without viewer window
--help
Show this help message
--hide_route_waypoints
Disable route waypoint visualization (toggle with key 'R')
--hide_trajectories
Hide trajectories from start (toggle with key 'n')
--ignore_z
Ignore provided z values from OSC file and place vehicle relative to road
--ignore_p
Ignore provided pitch values from OSC file and place vehicle relative to road
--ignore_r
Ignore provided roll values from OSC file and place vehicle relative to road
--info_text <mode>
Show on-screen info text (toggle key 'i') mode 0=None 1=current (default) 2=per_object 3=both
--logfile_path <path>
logfile path/filename, e.g. "../esmini.log" (default: log.txt)
--osc_str <string>
OpenSCENARIO XML string
--osg_screenshot_event_handler
Revert to OSG default jpg images ('c'/'C' keys handler)
--osi_file [filename] (default = ground_truth.osi)
save osi trace file
--osi_freq <frequence>
relative frequence for writing the .osi file e.g. --osi_freq=2 -> we write every two simulation steps
--osi_lines
Show OSI road lines (toggle during simulation by press 'u')
--osi_points
Show OSI road pointss (toggle during simulation by press 'y')
--osi_receiver_ip <IP address>
IP address where to send OSI UDP packages
--param_dist <filename>
Run variations of the scenario according to specified parameter distribution file
--param_permutation <index (0 .. NumberOfPermutations-1)>
Run specific permutation of parameter distribution
--pause
Pause simulation after initialization
--path <path>
Search path prefix for assets, e.g. OpenDRIVE files (multiple occurrences supported)
--player_server
Launch UDP server for action/command injection
--plot [mode (asynchronous|synchronous)] (default = asynchronous)
Show window with line-plots of interesting data
--record <filename>
Record position data into a file for later replay
--road_features <mode>
Show OpenDRIVE road features ("on", "off" (default)) (toggle during simulation by press 'o')
--return_nr_permutations
Return number of permutations without executing the scenario (-1 = error)
--save_generated_model
Save generated 3D model (n/a when a scenegraph is loaded)
--save_xosc
Save OpenSCENARIO file with any populated parameter values (from distribution)
--seed <number>
Specify seed number for random generator
--sensors
Show sensor frustums (toggle during simulation by press 'r')
--server
Launch server to receive state of external Ego simulator
--text_scale [factor] (default = 1.0)
Scale screen overlay text
--threads
Run viewer in a separate thread, parallel to scenario engine
--trail_mode <mode>
Show trail lines and/or dots (toggle key 'j') mode 0=None 1=lines 2=dots 3=both
--use_signs_in_external_model
When external scenegraph 3D model is loaded, skip creating signs from OpenDRIVE
--version
Show version and quit
Additional OSG graphics options:
--clear-color <color> Set the background color of the viewer in the form "r,g,b[,a]"
--screen <num> Set the screen to use when multiple screens are present
--window <x y w h> Set the position x, y and size w, h of the viewer window. -1 -1 -1 -1 for fullscreen.
--borderless-window <x y w h> Set the position x, y and size w, h of a borderless viewer window. -1 -1 -1 -1 for fullscreen.
--SingleThreaded Run application and all graphics tasks in one single thread.
--lodScale <LOD scalefactor> Adjust Level Of Detail 1=default >1 decrease fidelity <1 increase fidelity
For a complete list of OSG options and environment variables, see here:
https://github.com/esmini/esmini/blob/master/docs/osg_options_and_env_variables.txt