def __init__(self, setpoint, minimax_z_thresh, max_xy_drift = (2,2)):
# States will be pitch, roll, vx,vy,vz
# Number of states = 5
s = np.zeros(8)
self.current_state = np.array(s)
# Initialize starting position
initX = 0 # -.55265
initY = 0 # -31.9786
initZ = -1.5 # -19.0225
self.initial_position = (initX,initY,initZ)
assert setpoint[2] <= 0
self.setpoint = setpoint
assert minimax_z_thresh[0] >= 0 and minimax_z_thresh[1] >= 0 and minimax_z_thresh[0] < minimax_z_thresh[1]
self.minimax_z_thresh = minimax_z_thresh
assert max_xy_drift[0] > 0 and max_xy_drift[1] > 0
self.max_xy_drift = max_xy_drift
# connect to the AirSim simulator
print('Initializing Client')
self.client = ASC.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
print('Initialization Complete!')
def getImg(self):
responses = self.client.simGetImages([
AirSimClient.ImageRequest(
0, AirSimClient.AirSimImageType.DepthPerspective, True, False)
])
img1d = np.array(responses[0].image_data_float, dtype=np.float)
img2d = np.reshape(img1d, (responses[0].height, responses[0].width))
image = Image.fromarray(img2d)
im_final = np.array(image.resize((64, 64)).convert('L'),
dtype=np.float) / 255
im_final.resize((64, 64))
#responses2 = self.client.simGetImages([AirSimClient.ImageRequest(0, AirSimClient.AirSimImageType.Segmentation, True, False)])
#img1d2 = np.array(responses2[0].image_data_float, dtype=np.float)
#img2d2 = np.reshape(img1d2, (responses[0].height, responses[0].width))
#image2= Image.fromarray(img2d2)
#im_final2 = np.array(image2.resize((64, 64)).convert('P'), dtype=np.float) / 255
if IMAGE_VIEW:
cv2.imshow("view", im_final)
key = cv2.waitKey(1) & 0xFF
return im_final
def __init__(self, start=[0, 0, -5], aim=[32, 38, -4]):
self.start = np.array(start)
self.aim = np.array(aim)
self.client = AirSimClient.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
self.threshold = goal_threshold
def moveByDist(self, diff, forward=False):
temp = AirSimClient.YawMode()
temp.is_rate = not forward
self.client.moveByVelocity(diff[0], diff[1], diff[2], 1, drivetrain=AirSimClient.DrivetrainType.ForwardOnly,
yaw_mode=temp)
time.sleep(0.5)
return 0
def moveByDist(self,diff, forward = False, duration = 1,yaw = None): if yaw is None: yaw = AirSimClient.YawMode() yaw.is_rate = not forward self.client.moveByVelocity(diff[0], diff[1], diff[2], duration ,drivetrain = AirSimClient.DrivetrainType.ForwardOnly, yaw_mode = yaw) time.sleep(1) return 0
def getImg(self):
responses = self.client.simGetImages([
AirSimClient.ImageRequest(
0, AirSimClient.AirSimImageType.DepthPerspective, True, False)
])
img1d = np.array(responses[0].image_data_float, dtype=np.float)
img1d = 255 * img1d
img2d = np.reshape(img1d, (responses[0].height, responses[0].width))
image = Image.fromarray(img2d)
im_final = np.array(image.resize((224, 224)).convert('L'))
return im_final
def reset(self): cv2.destroyAllWindows() self.current_goal = -1 yaw = AirSimClient.YawMode() yaw.is_rate = False yaw.yaw_or_rate = drone_env.reset(self) time.sleep(2) self.change_goal() state = self.getState() self.state = state return state
def getImg(self):
'''
responses = self.client.simGetImages([AirSimClient.ImageRequest(0, AirSimClient.AirSimImageType.DepthVis, True, False)])
img1 = np.array(responses[0].image_data_float, dtype=np.float)
img2 = img1.reshape(responses[0].height, responses[0].width, 1)[:,:,0]
image = Image.fromarray(img2)
im_final = np.array([np.array(image.resize(IMG_SIZE))] )
return im_final
'''
responses = self.client.simGetImages([AirSimClient.ImageRequest(0, AirSimClient.AirSimImageType.DepthPerspective, True, False)])
img1d = np.array(responses[0].image_data_float, dtype=np.float)
img1d = 255/np.maximum(np.ones(img1d.size), img1d)
img2d = np.reshape(img1d, (responses[0].height, responses[0].width))
image = Image.fromarray(img2d)
im_final = np.array(image.resize(IMG_SIZE).convert('L'))
return im_final
def __init__(self):
# States will be pitch, roll, vx,vy,vz
# Number of states = 5
s = np.zeros(8)
self.current_state = np.array(s)
# Initialize starting position
initX = 0 # -.55265
initY = 0 # -31.9786
initZ = -1 # -19.0225
self.initial_position = (initX, initY, initZ)
#self.initial_position = (0,0,0)
# connect to the AirSim simulator
print('Initializing Client')
self.client = ASC.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
print('Initialization Complete!')
def __init__(self, minimax_z_thresh):
# States will be pitch, roll, vx,vy,vz
# Number of states = 4 states, + the 'RC' simulated action
self.scaling_factor = .20
self.duration = .20
self.dt = 0
self.intervened = False
# CHANGE THESE PER REQUIRED AGRRESIVITY #
self.Lgain = .1
self.Ugain = .3
#########################################
self.drone_low_alt_count = 0 # keeps track of how many timesteps the drone has been under 1m
self.num_user_RC_actions = 13 # 6 angular, 6 linear, one hover
self.num_state_variables = 7 # posz, velz, roll, pitch
self.total_state_variables = self.num_user_RC_actions + self.num_state_variables
s = np.zeros(self.total_state_variables)
self.current_state = np.array(s)
self.current_state = np.array(s)
#assert minimax_z_thresh[0] >= 0 and minimax_z_thresh[1] >= 0 and minimax_z_thresh[0] < minimax_z_thresh[1]
self.minimax_z_thresh = minimax_z_thresh
self.lb = pp.LabelBinarizer(
) # Binarizer for making categorical RC action input
self.lb.fit(range(self.num_user_RC_actions)) # actions 0-12
# connect to the AirSim simulator
print('Initializing Client')
self.client = ASC.MultirotorClient()
self.client.confirmConnection()
self.client.enableApiControl(True)
self.client.armDisarm(True)
print('Initialization Complete!')
f = open(fileName, "w")
for x in xrange(image.shape[0]):
for y in xrange(image.shape[1]):
pt = image[x, y]
if (math.isinf(pt[0]) or math.isnan(pt[0])):
# skip it
None
else:
f.write("%f %f %f %s\n" % (pt[0], pt[1], pt[2] - 1, rgb))
f.close()
for arg in sys.argv[1:]:
cloud.txt = arg
client = AirSimClient('127.0.0.1')
while True:
rawImage = client.getImageForCamera(0, AirSimImageType.Depth)
if (rawImage is None):
print(
"Camera is not returning image, please check airsim for error messages"
)
sys.exit(0)
else:
png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
gray = cv2.cvtColor(png, cv2.COLOR_BGR2GRAY)
Image3D = cv2.reprojectImageTo3D(gray, projectionMatrix)
savePointCloud(Image3D, outputFile)
print("saved " + outputFile)
sys.exit(0)
#!/usr/bin/env python
import rospy, time
import AirSimClient as airsim
from std_msgs.msg import String
if __name__ == '__main__':
rospy.init_node("image_publisher", anonymous=False)
pub_img_depth = rospy.Publisher('camera/images/depth', String, queue_size=1)
pub_img_segmentation = rospy.Publisher('camera/images/segmentation', String, queue_size=1)
pub_img_scene = rospy.Publisher('camera/images/scene', String, queue_size=1)
client = airsim.MultirotorClient("127.0.0.1")
client.confirmConnection()
time.sleep(1)
while True:
img_depth = client.simGetImage(0, airsim.AirSimImageType.DepthVis)
img_segmentation = client.simGetImage(0, airsim.AirSimImageType.Segmentation)
img_scene = client.simGetImage(0, airsim.AirSimImageType.Scene)
if img_depth != None:
pub_img_depth.publish(String(img_depth))
if img_segmentation != None:
pub_img_segmentation.publish(String(img_segmentation))
if img_depth != None:
import setup_path
#import airsim
# new games build with airsim 1.3, both car and rotar port 41451
import AirSimClient as airsim
# for games build with old version of airsim, car port 42451, rotar 41451
import cv2
import numpy as np
import os
import time
import tempfile
# connect to the AirSim simulator
client = airsim.CarClient()
client.confirmConnection()
client.enableApiControl(True)
print("API Control enabled: %s" % client.isApiControlEnabled())
car_controls = airsim.CarControls()
#tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_car")
tmp_dir = os.path.join("./", "airsim_car")
print ("Saving images to %s" % tmp_dir)
try:
os.makedirs(tmp_dir)
except OSError:
if not os.path.isdir(tmp_dir):
raise
for idx in range(3):
# get state of the car
