Usage: esmini [options]

Options:

[--osc] <filename>

OpenSCENARIO filename (required) - if path includes spaces, enclose with ""

--aa_mode [mode] (default if value omitted: 4)

Anti-alias mode=number of multisamples (subsamples, 0=off)

--axis_indicator <mode>

0:off 1:on 2:xray, cycle key 'x'

--align_routepositions

Align t-axis of route positions to the direction of the route

--bounding_boxes

Show entities as bounding boxes. Toggle key ','

--capture_screen

Continuous screen capture. Warning: Many jpeg files will be created

--camera_mode [mode] (default if option or value omitted: orbit)

Initial camera mode ("orbit", "fixed", "flex", "flex-orbit", "top", "driver", "custom"). Toggle key 'k'

--csv_logger [csv_filename] (default if value omitted: log.csv)

Log data for each vehicle in ASCII csv format

--collision

Enable global collision detection, potentially reducing performance

--config_file_path [path]... (default if value omitted: config.yml)

Configuration file path/filename, e.g. "../my_config.txt"

--custom_camera <position>...

Additional custom camera position <x,y,z>[,h,p]

--custom_fixed_camera <position and optional orientation>...

Additional custom fixed camera position <x,y,z>[,h,p]

--custom_fixed_top_camera <position and rotation>...

Additional custom top camera <x,y,z,rot>

--custom_light <position and intensity>...

Additional custom light source <x,y,z,intensity> intensity range 0..1

--disable_controllers

Disable controllers

--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 <object index (0, 1, 2..., ALL, ROAD)>

Set index of initial 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)

--ghost_trail_dt [dt] (default if value omitted: 0.200000)

Ghost trail sample delta time

--ground_plane [mode] (default if option or value omitted: auto)

Add a large flat ground surface. Modes: on, off, auto

--headless

Run without viewer window

--help

Show this help message (-h works as well)

--hide_route_waypoints

Disable route waypoint visualization. Toggle key 'R'

--hide_trajectories

Hide trajectories from start. Toggle key 'n'

--hide_ghost

Do not visualize ghost

--hide_obj_outline

Hide any object 2D shape outlines (toggle key ';')

--ignore_heading_for_traj_motion

Ignore heading when deciding motion direction along trajectory

--ignore_odr_offset

Ignore any offset specified in the OpenDRIVE file header

--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] (default if option or value omitted: 1)

Show on-screen info text. Modes: 0=None 1=current 2=per_object 3=both. Toggle key 'i'

--log_append

Log all scenarios in the same txt file

--logfile_path [path] (default if option or value omitted: log.txt)

Logfile path/filename, e.g. "../my_log.txt"

--log_meta_data

Log file name, function name and line number

--log_level [mode] (default if option or value omitted: info)

Log level debug, info, warn, error

--log_only_modules <modulename(s)>

Log from only these modules. Overrides log_skip_modules. See User guide for more info

--log_skip_modules <modulename(s)>

Skip log from these modules, all remaining modules will be logged. See User guide for more info

--osc_str <string>

OpenSCENARIO XML string

--osg_screenshot_event_handler

Revert to OSG default jpg images ('c'/'C' keys handler)

--osi_crop_dynamic <id,radius>...

Crop the dynamic osi data around the given object id with given radius

--osi_exclude_ghost

Excludes ghost from osi dynamic osi ground truth

--osi_file [filename] (default if value omitted: ground_truth.osi)

Save osi trace file

--osi_freq <frequency>

Decrease OSI file entries, e.g. --osi_freq 2 -> OSI written every two simulation steps

--osi_lines

Show OSI road lines. Toggle key 'u'

--osi_points

Show OSI road points. Toggle key 'y'

--osi_receiver_ip [IP address] (default if value omitted: 127.0.0.1)

IP address where to send OSI UDP packages

--osi_static_reporting [mode] (default if value omitted: 0)

Decide how the static data should be reported, 0=Default (first frame), 1=API (expose on API) 2=API_AND_LOG (Always log)

--param_dist <filename>

Run variations of the scenario according to specified parameter distribution file

--param_permutation <index>

Run specific permutation of parameter distribution, index in range (0 .. NumberOfPermutations-1)

--pause

Pause simulation after initialization

--path <path>...

Search path prefix for assets, e.g. OpenDRIVE files.

--player_server

Launch UDP server for action/command injection

--plot [mode] (default if value omitted: asynchronous)

Show window with line-plots of interesting data. Modes: asynchronous, synchronous

--pline_interpolation <mode>

Interpolate orientation ("segment", "corner", "off")

--record [filename] (default if value omitted: sim.dat)

Record position data into a file for later replay

--road_features [mode] (default if value omitted: on)

Show OpenDRIVE road features. Modes: on, off. Toggle key '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 [mode] (default if value omitted: continue)

Save OpenSCENARIO file with any populated parameter values (from distribution). Modes: quit, continue.

--seed <number>

Specify seed number for random generator

--sensors

Show sensor frustums. Toggle key 'r'

--server

Launch server to receive state of external Ego simulator

--text_scale [size factor] (default if option or value omitted: 1.0)

Scale screen overlay text

--threads

Run viewer in a separate thread, parallel to scenario engine

--trail_mode [mode] (default if value omitted: 0)

Show trail lines and/or dots. Modes: 0=None 1=lines 2=dots 3=both. Toggle key 'j'

--traj_filter [radius] (default if option or value omitted: 0.1)

Simple filter merging close points. Set 0.0 to disable

--tunnel_transparency [transparency] (default if value omitted: 0.0)

Set level of transparency for generated tunnels [0:1]

--use_signs_in_external_model

When external scenegraph 3D model is loaded, skip creating signs from OpenDRIVE

--vehicle_dynamics [<pitch,roll,tension>[,damping]]... (default if value omitted: 2,5,25)

Visualize simple vehicle dynamics

--version

Show version and quit

--view_mode <view_mode>

Entity visualization: "model"(default)/"boundingbox"/"both"/"filled_boundingbox" toggle key ','

--wireframe

Global wireframe mode, toggle key 'w'

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