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def get_new_images(self, vehicleName):
# Wait to grad images
tic = time.time()
print("Collecting Images from AirSim")
if (self.image_mask_FC_FR_FL[0] and self.image_mask_FC_FR_FL[1] and self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([
client.ImageRequest("0", client.ImageType.Scene, False, False), # Front Center
client.ImageRequest("1", client.ImageType.Scene, False, False), # Front Right
client.ImageRequest("2", client.ImageType.Scene, False, False)], vehicle_name = vehicleName) # Front Left
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
img1d_FR = np.fromstring(images[1].image_data_uint8, dtype=np.uint8)
img_rgba_FR = np.array(img1d_FR.reshape(images[1].height, images[1].width, 4), dtype = np.uint8)
img_rgb_FR = img_rgba_FR[:,:,0:3]
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img_rgb_FL = img_rgba_FL[:,:,0:3]
# Can either use the RGBA images or the RGB Images
self.images_rgba[vehicleName] = np.dstack((img_rgba_FC,img_rgba_FR,img_rgba_FL))
def get_new_images(self):
# Wait to grad images
tic = time.time()
if (self.image_mask_FC_FR_FL[0] and self.image_mask_FC_FR_FL[1] and self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([
client.ImageRequest("0", client.ImageType.Scene, False, False), # Front Center
client.ImageRequest("1", client.ImageType.Scene, False, False), # Front Right
client.ImageRequest("2", client.ImageType.Scene, False, False)]) # Front Left
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
img1d_FR = np.fromstring(images[1].image_data_uint8, dtype=np.uint8)
img_rgba_FR = np.array(img1d_FR.reshape(images[1].height, images[1].width, 4), dtype = np.uint8)
img_rgb_FR = img_rgba_FR[:,:,0:3]
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img_rgb_FL = img_rgba_FL[:,:,0:3]
# Can either use the RGBA images or the RGB Images
self.images_rgba = np.dstack((img_rgba_FC,img_rgba_FR,img_rgba_FL))
self.images_rgb = np.dstack((img_rgb_FC,img_rgb_FR,img_rgb_FL))
def get_new_images(self, vehicleName):
# Wait to grad images
tic = time.time()
print("Collecting Images from AirSim")
if (self.image_mask_FC_FR_FL[0] and self.image_mask_FC_FR_FL[1] and self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([
client.ImageRequest("0", client.ImageType.Scene, False, False), # Front Center
client.ImageRequest("1", client.ImageType.Scene, False, False), # Front Right
client.ImageRequest("2", client.ImageType.Scene, False, False)], vehicle_name = vehicleName) # Front Left
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
img1d_FR = np.fromstring(images[1].image_data_uint8, dtype=np.uint8)
img_rgba_FR = np.array(img1d_FR.reshape(images[1].height, images[1].width, 4), dtype = np.uint8)
img_rgb_FR = img_rgba_FR[:,:,0:3]
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img_rgb_FL = img_rgba_FL[:,:,0:3]
# Can either use the RGBA images or the RGB Images
def get_new_images(self):
# Construct the Images State Vector
# Order is Front Center, Front Right, Front Left
tic = time.time()
self.client.simPause(True)
if (self.image_mask_FC_FR_FL[0] and self.image_mask_FC_FR_FL[1] and self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([client.ImageRequest("0", client.ImageType.Scene, False, False), # Front Center
client.ImageRequest("1", client.ImageType.Scene, False, False), # Front Right
client.ImageRequest("2", client.ImageType.Scene, False, False)]) # Front Left
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
img1d_FR = np.fromstring(images[1].image_data_uint8, dtype=np.uint8)
img_rgba_FR = np.array(img1d_FR.reshape(images[1].height, images[1].width, 4), dtype = np.uint8)
img_rgb_FR = img_rgba_FR[:,:,0:3]
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img_rgb_FL = img_rgba_FL[:,:,0:3]
# Can either use the RGBA images or the RGB Images
self.images_rgba = np.dstack((img_rgba_FC,img_rgba_FR,img_rgba_FL))
self.images_rgb = np.dstack((img_rgb_FC,img_rgb_FR,img_rgb_FL))
def get_new_images(self):
# Construct the Images State Vector
# Order is Front Center, Front Right, Front Left
tic = time.time()
self.client.simPause(True)
if (self.image_mask_FC_FR_FL[0] and self.image_mask_FC_FR_FL[1] and self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([client.ImageRequest("0", client.ImageType.Scene, False, False), # Front Center
client.ImageRequest("1", client.ImageType.Scene, False, False), # Front Right
client.ImageRequest("2", client.ImageType.Scene, False, False)]) # Front Left
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
img1d_FR = np.fromstring(images[1].image_data_uint8, dtype=np.uint8)
img_rgba_FR = np.array(img1d_FR.reshape(images[1].height, images[1].width, 4), dtype = np.uint8)
img_rgb_FR = img_rgba_FR[:,:,0:3]
#plt.imshow(img_rgb_FR)
#plt.show()
#time.sleep(2)
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img1d_FL = np.fromstring(images[2].image_data_uint8, dtype=np.uint8)
img_rgba_FL = np.array(img1d_FL.reshape(images[2].height, images[2].width, 4), dtype = np.uint8)
img_rgb_FL = img_rgba_FL[:,:,0:3]
#plt.imshow(img_rgb_FL)
#plt.show()
#time.sleep(2)
# Can either use the RGBA images or the RGB Images
self.images_rgba[vn] = np.dstack((img_rgba_FC,img_rgba_FR,img_rgba_FL))
self.images_rgb[vn] = np.dstack((img_rgb_FC,img_rgb_FR,img_rgb_FL))
print("Time to Grab All Images: ", time.time() - self.toc)
# We Just want front view
elif (self.image_mask_FC_FR_FL[0] and not self.image_mask_FC_FR_FL[1] and not self.image_mask_FC_FR_FL[2]):
images = self.client.simGetImages([client.ImageRequest("0", client.ImageType.Scene, False, False)], vehicle_name = vn) # Front Center
img1d_FC = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img_rgba_FC = np.array(img1d_FC.reshape(images[0].height, images[0].width, 4), dtype = np.uint8)
img_rgb_FC = img_rgba_FC[:,:,0:3]
self.images_rgba[vn] = img_rgba_FC
self.images_rgb[vn] = img_rgb_FC
print("Time to Grab Images: ", time.time() - self.toc)
self.client.simPause(False)
# Store X and Y position information as well
self.extra_metadata = self.dt
# Start the timer again as the next state is saved. Return the current state and meta-data
self.tic = time.time()