How to use the airsim.ImageType.Scene function in airsim

def take_snapshot(self):
        # first hold our current position so drone doesn't try and keep flying while we take the picture.
        pos = self.client.getMultirotorState().kinematics_estimated.position
        self.client.moveToPositionAsync(pos.x_val, pos.y_val, self.z, 0.5, 10, airsim.DrivetrainType.MaxDegreeOfFreedom, 
            airsim.YawMode(False, self.camera_heading)).join()
        responses = self.client.simGetImages([airsim.ImageRequest(1, airsim.ImageType.Scene)]) #scene vision image in png format
        response = responses[0]
        filename = "photo_" + str(self.snapshot_index)
        self.snapshot_index += 1
        airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)        
        print("Saved snapshot: {}".format(filename))
        self.start_time = time.time()  # cause smooth ramp up to happen again after photo is taken.

def airpub():
    pub = rospy.Publisher("airsim/image_raw", Image, queue_size=1)
    rospy.init_node('image_raw', anonymous=True)
    rate = rospy.Rate(10) # 10hz

    # connect to the AirSim simulator 
    client = airsim.MultirotorClient()
    client.confirmConnection()

    while not rospy.is_shutdown():
         # get camera images from the car
        responses = client.simGetImages([
            airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])  #scene vision image in uncompressed RGB array

        for response in responses:
            img_rgb_string = response.image_data_uint8

        # Populate image message
        msg=Image() 
        msg.header.stamp = rospy.Time.now()
        msg.header.frame_id = "frameId"
        msg.encoding = "rgb8"
        msg.height = 360  # resolution should match values in settings.json 
        msg.width = 640
        msg.data = img_rgb_string
        msg.is_bigendian = 0
        msg.step = msg.width * 3

        # log time and size of published image

def get_image():
    """
    Get image from AirSim client
    """
    image_response = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])[0]
    image1d = np.fromstring(image_response.image_data_uint8, dtype=np.uint8)
    image_rgb = image1d.reshape(image_response.height, image_response.width, 3)
    return image_rgb[78:144,27:227,0:2].astype(float)

# apply breaks
    car_controls1.brake = 1
    client.setCarControls(car_controls1, "Car1")
    print("Car1: Apply break")
    car_controls1.brake = 0 #remove break

    car_controls2.brake = 1
    client.setCarControls(car_controls2, "Car2")
    print("Car2: Apply break")
    car_controls2.brake = 0 #remove break
    time.sleep(3)   # let car drive a bit
    
    # 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)], "Car1")  #scene vision image in uncompressed RGBA array
    print('Car1: Retrieved images: %d' % (len(responses1)))
    responses2 = client.simGetImages([
        airsim.ImageRequest("0", airsim.ImageType.Segmentation),  #depth visualization image
        airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)], "Car2")  #scene vision image in uncompressed RGBA array
    print('Car2: Retrieved images: %d' % (len(responses2)))

    for response in responses1 + responses2:
        filename = 'c:/temp/car_multi_py' + str(idx)

        if response.pixels_as_float:
            print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
        elif response.compress: #png format
            print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
        else: #uncompressed array

if __name__ == "__main__":
    client = airsim.MultirotorClient()
    client.confirmConnection()
    client.enableApiControl(True)
    client.armDisarm(True)
    rospy.init_node('airsim_publisher', anonymous=True)
    publisher_d = rospy.Publisher('/camera/depth_registered/image_raw', Image, queue_size=1)
    publisher_rgb = rospy.Publisher('/camera/rgb/image_rect_color', Image, queue_size=1)
    publisher_info = rospy.Publisher('/camera/rgb/camera_info', CameraInfo, queue_size=1)
    publisher_tf = rospy.Publisher('/tf', TFMessage, queue_size=1)
    rate = rospy.Rate(30)  # 30hz
    pub = KinectPublisher()

    while not rospy.is_shutdown():
        responses = client.simGetImages([airsim.ImageRequest(0, airsim.ImageType.DepthPlanner, True, False),
                                         airsim.ImageRequest(0, airsim.ImageType.Scene, False, False)])
        img_depth = pub.getDepthImage(responses[0])
        img_rgb = pub.getRGBImage(responses[1])

        if CLAHE_ENABLED:
            img_rgb = pub.enhanceRGB(img_rgb)

        pub.GetCurrentTime()
        msg_rgb = pub.CreateRGBMessage(img_rgb)
        msg_d = pub.CreateDMessage(img_depth)
        msg_info = pub.CreateInfoMessage()
        msg_tf = pub.CreateTFMessage()

        publisher_rgb.publish(msg_rgb)
        publisher_d.publish(msg_d)
        publisher_info.publish(msg_info)
        publisher_tf.publish(msg_tf)

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)

    time.sleep(3)

def process_image(client, img_res):
    image_response = client.simGetImages([airsim.ImageRequest('0', airsim.ImageType.Scene, False, False)])[0]
    img_1d = np.fromstring(image_response.image_data_uint8, dtype=np.uint8)  # get numpy array
    img_bgr = img_1d.reshape(image_response.height, image_response.width, 3)  # reshape array to 4 channel image array H X W X 3
    img_resized = cv2.resize(img_bgr, (img_res, img_res)).astype(np.float32)
    img_batch_1 = np.array([img_resized])
    cam_pos = image_response.camera_position
    cam_orientation = image_response.camera_orientation
    return img_batch_1, cam_pos, cam_orientation

def get_image_and_publish(self):
        image = self.client.simGetImage("0", airsim.ImageType.Scene)
        image = cv2.imdecode(
            airsim.string_to_uint8_array(image),
            cv2.IMREAD_UNCHANGED)[:, :, :3]

        self.image_pub.publish(self.bridge.cv2_to_imgmsg(image, 'bgr8'))

def get_image():
    image = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])[0]
    image1d = np.fromstring(image.image_data_uint8, dtype=np.uint8)
    image_rgba = image1d.reshape(image.height, image.width, 4)
    image_rgba = np.flipud(image_rgba)
    return image_rgba[:, :, 0:3]

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):

    filename = os.path.join(tmp_dir, str(idx))

    if response.pixels_as_float:
        print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))