def get_images(self):
z = np.zeros((10, 10))
if OPTIMIZE_FPS:
return z, z, z
# TODO : Maybe reduce image size for performance?
responses = self.client.simGetImages([
fsds.ImageRequest("cam1", fsds.ImageType.Scene, False, False),
fsds.ImageRequest("cam2", fsds.ImageType.Scene, False, False),
#fsds.ImageRequest("cam3", fsds.ImageType.DepthPlanner, pixels_as_float=True, compress=False)
])
response = responses[0]
# get np array
img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8)
# reshape array to 4 channel image array H X W X 4
imgL = img1d.reshape(response.height, response.width, 3)
response = responses[1]
# get np array
img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8)
# reshape array to 4 channel image array H X W X 4
imgR = img1d.reshape(response.height, response.width, 3)
"""
response = responses[2]
img1d = np.uint8(response.image_data_float)
imgD = img1d.reshape(response.height, response.width, 1)
"""
imgD = z
return imgL, imgR, imgD
def get_camera():
global ax1, im1, ax2, im2
#imgL = fsds.string_to_uint8_array(client.simGetImage("cam1", fsds.ImageType.Scene ))
responses = client.simGetImages([
fsds.ImageRequest("cam1", fsds.ImageType.Scene, False, False),
fsds.ImageRequest("cam2", fsds.ImageType.Scene, False, False),
fsds.ImageRequest("cam3", fsds.ImageType.DepthPlanner, pixels_as_float = True, compress=False)
])
response = responses[0]
# get numpy array
img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
# reshape array to 4 channel image array H X W X 4
imgL = img1d.reshape(response.height, response.width, 3)
imgL =cv2.resize(imgL, ( imgL.shape[1]//2, imgL.shape[0]//2 ))
# original image is fliped vertically
#imgL = numpy.flipud(img_rgb)
response = responses[1]
# get numpy array
img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
# reshape array to 4 channel image array H X W X 4
imgR = img1d.reshape(response.height, response.width, 3)
imgR =cv2.resize(imgR, ( imgR.shape[1]//2, imgR.shape[0]//2 ))
# ['__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__getattribute__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', 'camera_name', 'camera_orientation', 'camera_position', 'compress', 'from_msgpack', 'height', 'image_data_float': [0.0], 'image_data_uint8', 'image_type', 'message', 'pixels_as_float': False, 'time_stamp', 'to_msgpack', 'width']
response = responses[2]
# get numpy array
# print(response.image_data_float)
#print(dir(response))
#img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
img1d = numpy.uint8(response.image_data_float)
# img1d = numpy.array(response.image_data_float)
# reshape array to 4 channel image array H X W X 4
imgD = img1d.reshape(response.height, response.width, 1)
imgD = cv2.resize(imgD, ( imgD.shape[1]//2, imgD.shape[0]//2 ))
imgLg = cv2.cvtColor(imgL, cv2.COLOR_BGR2GRAY)
imgRg = cv2.cvtColor(imgR, cv2.COLOR_BGR2GRAY)
stereo = cv2.StereoBM_create(numDisparities=128, blockSize=15)
# imgD = stereo.compute(imgLg,imgRg)
cv2.imshow("imgL", imgL)
cv2.imshow("imgD", imgD)
cv2.imshow("imgSBGM", stereo)
cv2.waitKey(1)
print(img1d.shape, imgL.shape)
pass
def get_camera():
responses = client.simGetImages([
fsds.ImageRequest("cam1", fsds.ImageType.Scene, False, False),
fsds.ImageRequest("cam2", fsds.ImageType.Scene, False, False),
fsds.ImageRequest("cam1", fsds.ImageType.DisparityNormalized, False, False)
])
response = responses[0]
# get numpy array
img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
# reshape array to 4 channel image array H X W X 4
imgL = img1d.reshape(response.height, response.width, 3)
# original image is fliped vertically
#imgL = numpy.flipud(img_rgb)
response = responses[1]
# get numpy array
img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
# reshape array to 4 channel image array H X W X 4
imgR = img1d.reshape(response.height, response.width, 3)
response = responses[2]
# get numpy array
img1d = numpy.fromstring(response.image_data_uint8, dtype=numpy.uint8)
# reshape array to 4 channel image array H X W X 4
imgD = img1d.reshape(response.height, response.width, 3)
print(img1d.shape, imgL.shape)
#cv2.imshow("imgL", imgL)
#im1.set_data(imgL)
#im2.set_data(imgR)
#im3.set_data(imgD)
#if (im2 == False): im2 = ax2.imshow(grab_frame(cap2))
#cv2.imshow("Left", imgL)
#cv2.imshow("Right", )
#plt.show()
pass
import sys
import os
## adds the fsds package located the parent directory to the pyhthon path
sys.path.insert(0,
os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
import time
import fsds
# connect to the simulator
client = fsds.FSDSClient()
# Check network connection, exit if not connected
client.confirmConnection()
# Get the image
[image] = client.simGetImages([
fsds.ImageRequest(camera_name='examplecam',
image_type=fsds.ImageType.Scene,
pixels_as_float=False,
compress=True)
],
vehicle_name='FSCar')
print("Image width: ", image.width)
print("Image height: ", image.height)
# write to png
fsds.write_file(os.path.normpath('example.png'), image.image_data_uint8)