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<title>esmini user guide – Command reference</title>
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<body class="article toc2 toc-left">
<div id="header">
<div id="toc" class="toc2">
<div id="toctitle">Table of Contents</div>
<ul class="sectlevel1">
<li><a href="#_command_reference">Command reference</a>
<ul class="sectlevel2">
<li><a href="#_about_options_and_config_files">About options and config files</a></li>
<li><a href="#_esmini">esmini</a></li>
<li><a href="#_replayer">replayer</a></li>
<li><a href="#_odrviewer">odrviewer</a></li>
<li><a href="#_plot_dat_py">plot_dat.py</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="content">
<div id="preamble">
<div class="sectionbody">
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<p><a href="index.html"><strong>Home</strong></a></p>
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<p><a href="toc.html">Table of contents</a> | <a href="getting-started.html">Getting started</a> | <a href="tools-overview.html">Tools overview</a> | <a href="use-cases.html">Use cases</a> | <a href="scenario-features.html">Scenario features</a> | <a href="positioning.html">Positioning</a> | <a href="controllers.html">Controllers</a> | <a href="openscenegraph-3d-models.html">OpenSceneGraph and 3D models</a> | <a href="support-qa.html">Support / Q&A</a> | <a href="#">Command reference</a> | <a href="known-deviations.html">Known deviations from standards</a> | <a href="build-guide.html">Build guide</a> | <a href="developers-contributors.html">For esmini developers and contributors</a> | <a href="inner-workings.html">Inner workings</a> | <a href="esmini-lib-programming.html">esmini lib programming</a> | <a href="hello-world-tutorial.html">Hello World programming tutorial</a> | <a href="scenario-construction-tips.html">Scenario construction tips</a> | <a href="run-asam-examples.html">Run ASAM OpenSCENARIO examples</a> | <a href="about-this-document.html">About this document</a> | <a href="version.html">Version</a> | <a href="monolith.html">Single page document</a></p>
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</div>
<div class="sect1">
<h2 id="_command_reference">Command reference</h2>
<div class="sectionbody">
<!-- toc disabled -->
<div class="sect2">
<h3 id="_about_options_and_config_files">About options and config files</h3>
<div class="paragraph">
<p>esmini, replayer and odrviewer can be controlled and configured by options. Even the input file (e.g. OpenSCENARIO file) is specified as an option.</p>
</div>
<div class="paragraph">
<p>Available options are listed later in this section, grouped by application.</p>
</div>
<div class="paragraph">
<p>Certain options, such as <code>path</code>, supports multiple values, denoted by '…​' in the command help. For those options the values can be specified sequentially. Example:<br>
<code>--path /tmp/models /tmp/kalles_models</code></p>
</div>
<div class="paragraph">
<p>Other options supports only one value. For those options the last parsed occurrence wins. Example:<br>
<code>--logfile_path my_log.txt --logfile_path kalles_log.txt</code><br>
will create 'kalles_log.txt'</p>
</div>
<div class="paragraph">
<p>Options can be specified three ways:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>From command line as application arguments, for example: <code>esmini --osc my_scenario.xosc --disable_stdout</code></p>
</li>
<li>
<p>By API function SE_SetOption(), see <a href="esmini-lib-programming.html#_program_options">Program Options</a></p>
</li>
<li>
<p>In config file, see more info below</p>
</li>
</ol>
</div>
<div class="sect3">
<h4 id="_config_file">Config file</h4>
<div class="paragraph">
<p>The config file is basically a container for option presets. It can be used to apply common settings for esmini applications. For example, if you often use a specific window size, e.g. --window 60 60 800 400, then you can put it in a config file. Configuration file is structured with the application name as the root, followed by option-value pairs. Custom configuration file can be named and placed as needed.</p>
</div>
<div class="paragraph">
<p>Settings in config files can be overridden, both by other config files or by options specified on command line. Option files are parsed in order of appearance, last parsed option occurrence wins.</p>
</div>
<div class="paragraph">
<p>From version 2.46.0 esmini comes with a default <code>config.yml</code> located in esmini root folder. It contains just a few settings, e.g. default window position and size (60 60 800 400). Launching esmini from esmini root folder as:</p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>will then show cut-in scenario in a 800x400 window.</p>
</div>
<div class="paragraph">
<p>Exact content of the config.yml will vary over time, but initial version looks like this:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
window: 60 60 800 400
replayer:
window: 60 60 800 400
res_path: ./resources
file: sim.dat
odrviewer:
window: 60 60 800 400</code></pre>
</div>
</div>
<div class="paragraph">
<p>If you want another size of the window you have at least three options:</p>
</div>
<div class="olist arabic">
<ol class="arabic">
<li>
<p>Edit the config.yml</p>
</li>
<li>
<p>Provide the <code>window</code> option values at command line, example:
<code>./esmini --window 50 100 1400 500</code></p>
</li>
<li>
<p>Create a custom config file, e.g. my_config.yml, including your preferred values</p>
</li>
</ol>
</div>
<div class="paragraph">
<p>Example of my_config.yml:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
window: 50 100 1400 500
logfile_path: my_log.txt</code></pre>
</div>
</div>
<div class="paragraph">
<p>Similarly, the scenario file can also be made part of default config file by adding <code>osc: ./resources/xosc/cut-in.xosc</code> to the config.yml. Or you can add it your custom config file above, like following:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
window: 50 100 1400 500
logfile_path: my_log.txt
osc: ./resources/xosc/cut-in.xosc</code></pre>
</div>
</div>
<div class="paragraph">
<p>Any number of config files can be specified as an option (<code>config_file_path</code>), either from another config file or at command line.</p>
</div>
<div class="paragraph">
<p>Example how to incorporate a custom config file on top of the default one:</p>
</div>
<div class="paragraph">
<p><code>./esmini --config_file_path my_config.yml</code></p>
</div>
<div class="paragraph">
<p>You can also add an entry in the default <code>config.yml</code>, example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
window: 50 100 1400 500
logfile_path: my_log.txt
config_file_path: my_config.yml</code></pre>
</div>
</div>
<div class="paragraph">
<p>Now, running:</p>
</div>
<div class="paragraph">
<p><code>./bin/esmini</code></p>
</div>
<div class="paragraph">
<p>will load <code>cut-in.xosc</code>, using the one specified in default config. Window will be <code>50 100 1400 500</code> as specified in my_config, overriding the values in the default config.yml. The log file will be named my_log.txt as specified in my_config, overriding esmini default log file path.</p>
</div>
<div class="paragraph">
<p>Custom configuration file paths can be defined in the ESMINI_CONFIG_FILE environment variable. Multiple paths, delimited by ';' (Windows) or ':' (Linux/macOS), are permitted, which is particularly useful in Docker or similar environments.</p>
</div>
<div class="paragraph">
<p>Default config file is always parsed first, then the ones specified in the environment variable, and finally the ones specified on command line.</p>
</div>
<div class="exampleblock">
<div class="content">
<div class="paragraph">
<p><strong>Note:</strong></p>
</div>
<div class="paragraph">
<p>The default 'config.yml' is applied automatically, while other config files needs to be specified explicitly.</p>
</div>
<div class="paragraph">
<p>Hence, although legit to add any setting to the default 'config.yml' file, it’s recommended to separate basic common settings from temporary ones.</p>
</div>
<div class="paragraph">
<p>For example, create a 'my_settings.yml' for temporary preferences while putting permanent settings into 'config.yml'.</p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --osc ./resources/xosc/cut-in.xosc</code><br>
will apply basic settings only, while<br></p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --osc ./resources/xosc/cut-in.xosc --config_file_path my_settings.yml</code><br>
will also apply additional settings from the custom file.</p>
</div>
<div class="paragraph">
<p>This strategy avoids unexpected forgotten settings from a previous session being applied automatically.</p>
</div>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_whitespace_support">Whitespace support</h4>
<div class="paragraph">
<p>In option values any space will result in separation in multiple arguments.</p>
</div>
<div class="paragraph">
<p>Bad example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
path: ./resources/my scenarios /tmp</code></pre>
</div>
</div>
<div class="paragraph">
<p><code>./resources/my</code>, <code>scenarios</code>, <code>/tmp</code> is added as separate search paths. Probably not intended.</p>
</div>
<div class="paragraph">
<p>If space is needed, e.g. for file or directory paths, just enclose in quotes "".</p>
</div>
<div class="paragraph">
<p>Good example:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
path: "./resources/my scenarios" /tmp</code></pre>
</div>
</div>
<div class="paragraph">
<p><code>./resources/my scenarios</code>, <code>/tmp</code> is added as separate search paths</p>
</div>
</div>
<div class="sect3">
<h4 id="_precedence">Precedence</h4>
<div class="paragraph">
<p>As mentioned, options that supports multiple values will store and access values according to order of appearance. Example:</p>
</div>
<div class="paragraph">
<p><code>--path /tmp/my_car_models</code> <code>--path /tmp/kalles_car_models</code></p>
</div>
<div class="paragraph">
<p>esmini will look in <code>kalles_car_models</code> first, and only if referred model is not found there it will continue looking in <code>my_car_models</code>.</p>
</div>
<div class="paragraph">
<p>Illustrative example:</p>
</div>
<div class="imageblock">
<div class="content">
<img src="https://github.com/esmini/esmini.github.io/raw/main/images/options.png" alt="options">
</div>
</div>
</div>
<div class="sect3">
<h4 id="_mutual_exclusion">Mutual exclusion</h4>
<div class="paragraph">
<p>Dependencies exists among some options. Examples:</p>
</div>
<div class="sect4">
<h5 id="_headless_and_window">'headless' and 'window'</h5>
<div class="paragraph">
<p>'headless' overrides any preceding 'window' arguments, no rendering will happen. Conversely, 'window' following 'headless' results in an invisible window for off-screen rendering (e.g. saving images to file or grab pixels via API).</p>
</div>
<div class="paragraph">
<p>Examples:</p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --window 60 60 800 400 --headless --fixed_timestep 0.05 --osc ./resources/xosc/cut-in.xosc</code><br>
no window will be created and no rendering performed, execution will be fast.</p>
</div>
<div class="paragraph">
<p><code>./bin/esmini --headless --window 60 60 800 400 --fixed_timestep 0.05 --osc ./resources/xosc/cut-in.xosc</code><br>
off-screen window will be created and rendered to, execution will be slower.</p>
</div>
</div>
<div class="sect4">
<h5 id="_osc_and_osc_str">'osc' and 'osc_str'</h5>
<div class="paragraph">
<p>The last specified option prevails.</p>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_config_file_usage_example_1_easy_replaying">Config file usage example 1: Easy replaying</h4>
<div class="sect4">
<h5 id="_without_config">Without config</h5>
<div class="paragraph">
<p>The typical procedure to create and replay a scenario recording (DAT file) is as follows:</p>
</div>
<div class="paragraph">
<p>Create DAT file:<br>
<code>./bin/esmini --headless --fixed_timestep 0.05 --record sim.dat --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>Play DAT file:<br>
<code>./bin/replayer --window 60 60 800 400 --res_path ./resources --file sim.dat</code></p>
</div>
<div class="sect5">
<h6 id="_with_config">With config</h6>
<div class="paragraph">
<p>Create <code>cfg_dat.yml</code> in esmini root as:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
headless: true
record: sim.dat
fixed_timestep: 0.05
replayer:
window: 60 60 800 400
res_path: ./resources
file: sim.dat</code></pre>
</div>
</div>
<div class="paragraph">
<p>Create DAT file:<br>
<code>./bin/esmini --config_file_path ./cfg_dat.yml --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>Play DAT file:<br>
<code>./bin/replayer --config_file_path ./cfg_dat.yml</code></p>
</div>
</div>
</div>
</div>
<div class="sect3">
<h4 id="_config_file_usage_example_2_easy_video_creation">Config file usage example 2: Easy video creation</h4>
<div class="sect4">
<h5 id="_without_config_2">Without config</h5>
<div class="paragraph">
<p>The typical procedure to create a video clip from a scenario is as follows:</p>
</div>
<div class="paragraph">
<p>Create image files:<br>
<code>./bin/esmini --headless --window 0 0 1920 1080 --fixed_timestep 0.016667 --screen_capture --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>A series of TGA images (screen_shot_00000.tga, screen_shot_00001.tga …​) is created in current folder. Resolution in this case is 1920x1080 (HD). Timestep 0.016668 correlates to 60 fps.</p>
</div>
<div class="paragraph">
<p>There are many ways to convert the images into a video clip. Example using ffmpeg:</p>
</div>
<div class="paragraph">
<p><code>ffmpeg -f image2 -framerate 60 -i screen_shot_%5d.tga -c:v libx264 -vf format=yuv420p -crf 15 out.mp4</code></p>
</div>
<div class="paragraph">
<p>See <a href="use-cases.html#_create_video_clip_of_a_scenario">Create video clip of a scenario</a> for more info on ffmpeg.</p>
</div>
<div class="sect5">
<h6 id="_with_config_2">With config</h6>
<div class="paragraph">
<p>It’s a bit tricky to remember resolution and timestep settings for esmini. Now you can create config files for favorite settings. For example:</p>
</div>
<div class="paragraph">
<p>Create <code>cfg_hd.yml</code> in esmini root as:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
headless: true
window: 0 0 1920 1080
fixed_timestep: 0.016667
capture_screen: true</code></pre>
</div>
</div>
<div class="paragraph">
<p>and <code>cfg_sd.yml</code> as:</p>
</div>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>esmini:
headless: true
window: 0 0 720 480
fixed_timestep: 0.033333
capture_screen: true</code></pre>
</div>
</div>
<div class="paragraph">
<p>Create images for HD/60fps:<br>
<code>./bin/esmini --config_file_path ./cfg_hd.yml --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>and SD/30fps:<br>
<code>./bin/esmini --config_file_path ./cfg_sd.yml --osc ./resources/xosc/cut-in.xosc</code></p>
</div>
<div class="paragraph">
<p>You still need to supply corresponding <code>framerate</code> argument to ffmpeg:<br></p>
</div>
<div class="paragraph">
<p><code>ffmpeg -f image2 -framerate 60 -i screen_shot_%5d.tga -c:v libx264 -vf format=yuv420p -crf 15 out.mp4</code></p>
</div>
<div class="paragraph">
<p>and</p>
</div>
<div class="paragraph">
<p><code>ffmpeg -f image2 -framerate 30 -i screen_shot_%5d.tga -c:v libx264 -vf format=yuv420p -crf 15 out.mp4</code></p>
</div>
<div class="paragraph">
<p>respectively.</p>
</div>
</div>
</div>
</div>
</div>
<div class="sect2">
<h3 id="_esmini">esmini</h3>
<div class="sect3">
<h4 id="_launch_commands">Launch commands</h4>
<div class="listingblock">
<div class="content">
<pre class="CodeRay highlight"><code>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_shadows
Disable shadows
--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)