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def getScreenGrey(self):
responses = self.client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])
response = responses[0]
img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8)
if((responses[0].width !=0 or responses[0].height!=0)):
img_rgba = img1d.reshape(response.height, response.width, 4)
rgb = cv2.cvtColor(img_rgba, cv2.COLOR_BGRA2BGR)
grey = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
else:
print("Something bad happened! Restting AirSim!")
self.AirSim_reset()
grey = np.ones(144,256)
return grey
s = pprint.pformat(state1)
print("state: %s" % s)
state2 = client.getMultirotorState(vehicle_name="Drone2")
s = pprint.pformat(state2)
print("state: %s" % s)
airsim.wait_key('Press any key to move vehicles')
f1 = client.moveToPositionAsync(-5, 5, -10, 5, vehicle_name="Drone1")
f2 = client.moveToPositionAsync(5, -5, -10, 5, vehicle_name="Drone2")
f1.join()
f2.join()
airsim.wait_key('Press any key to take images')
# get camera images from the car
responses1 = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis), #depth visualization image
airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)], vehicle_name="Drone1") #scene vision image in uncompressed RGBA array
print('Drone1: Retrieved images: %d' % len(responses1))
responses2 = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis), #depth visualization image
airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)], vehicle_name="Drone2") #scene vision image in uncompressed RGBA array
print('Drone2: Retrieved images: %d' % len(responses2))
tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_drone")
print ("Saving images to %s" % tmp_dir)
try:
os.makedirs(tmp_dir)
except OSError:
if not os.path.isdir(tmp_dir):
raise
for idx, response in enumerate(responses1 + responses2):
airsim.wait_key('Press any key to set camera-0 gimble to 15-degree pitch')
client.simSetCameraOrientation("0", airsim.to_quaternion(0.261799, 0, 0)); #radians
airsim.wait_key('Press any key to get camera parameters')
for camera_name in range(5):
camera_info = client.simGetCameraInfo(str(camera_name))
print("CameraInfo %d: %s" % (camera_name, pp.pprint(camera_info)))
airsim.wait_key('Press any key to get images')
for x in range(3): # do few times
z = x * -20 - 5 # some random number
client.simSetVehiclePose(airsim.Pose(airsim.Vector3r(z, z, z), airsim.to_quaternion(x / 3.0, 0, x / 3.0)), True)
responses = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis),
airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True),
airsim.ImageRequest("2", airsim.ImageType.Segmentation),
airsim.ImageRequest("3", airsim.ImageType.Scene),
airsim.ImageRequest("4", airsim.ImageType.DisparityNormalized),
airsim.ImageRequest("4", airsim.ImageType.SurfaceNormals)])
for i, response in enumerate(responses):
if response.pixels_as_float:
print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
airsim.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), airsim.get_pfm_array(response))
else:
print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
airsim.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)
pose = client.simGetVehiclePose()
pp.pprint(pose)
airsim.wait_key('Press any key to set multiple presets')
presets = {"Phoneme_l":0.5, "Phoneme_ae": 1, "Phoneme_ooo":0.0}
client.simCharSetFacePresets(presets)
airsim.wait_key('Press any key to turn head around')
client.reset()
for pitch in range(-5, 5, 5):
for yaw in range(-10, 10, 2):
q = airsim.to_quaternion(pitch/10.0, 0, yaw/10.0)
client.simCharSetHeadRotation(q)
time.sleep(0.1)
airsim.wait_key('Press any key to get images')
for x in range(3): # do few times
responses = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis),
airsim.ImageRequest("0", airsim.ImageType.Segmentation),
airsim.ImageRequest("0", airsim.ImageType.Scene),
airsim.ImageRequest("0", airsim.ImageType.SurfaceNormals)])
for i, response in enumerate(responses):
if response.pixels_as_float:
print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
airsim.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), airsim.get_pfm_array(response))
else:
print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
airsim.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)
pose = client.simGetVehiclePose()
pose.position.x_val = pose.position.x_val + 1
pose.position.y_val = pose.position.y_val - 0.5
pose.position.z_val = pose.position.z_val - 0.5
airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
response = responses[0]
#initial position
moveUAV(client,pos,yaw)
#predictControl = AvoidLeftIgonreGoal(hfov, coll_thres, yaw, limit_yaw, step)
predictControl = AvoidLeft(hfov, coll_thres, yaw, limit_yaw, step)
for z in range(10000): # do few times
#time.sleep(1)
# get response
responses = client.simGetImages([
airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
response = responses[0]
# get numpy array
img1d = response.image_data_float
# reshape array to 2D array H X W
img2d = np.reshape(img1d,(response.height, response.width))
[pos,yaw,target_dist] = predictControl.get_next_vec(img2d, uav_size, goal, pos)
moveUAV(client,pos,yaw)
if (target_dist < 1):
print('Target reached.')
airsim.wait_key('Press any key to continue')
break