def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None: # Reset the drone client.reset() client.enableApiControl(True) client.armDisarm(True) # Draw the ROI outline (erasing previous plots) client.simFlushPersistentMarkers() if SHOW_PLOTS: client.simPlotLineStrip(points=args.roi.corners(repeat_first=True), is_persistent=True) # Get the first position the drone will fly to initial_pose = client.simGetVehiclePose() closest_corner = args.roi.closest_corner(initial_pose.position) if args.verbose: ff.print_pose(initial_pose, airsim.to_eularian_angles) ff.log_info(f"Closest corner {ff.to_xyz_str(closest_corner)}") start_pos = Vector3r( *ff.to_xyz_tuple(closest_corner if args.corner else args.roi.center)) # NOTE AirSim uses NED coordinates, so negative Z values are "up" actually if (z := args.z_offset): start_pos.z_val -= z # start higher up, to avoid crashing with objects
def fly(client: MultirotorClient, args: argparse.Namespace) -> None: reset(client) rect = cast(Rect, args.rect) initial_pose = cast(Pose, client.simGetVehiclePose()) closest_corner = rect.closest_corner(initial_pose.position) if args.verbose: ff.print_pose(initial_pose, airsim.to_eularian_angles) ff.log_info(f"Closest corner {ff.to_xyz_str(closest_corner)}") start_pos = Vector3r( *ff.to_xyz_tuple(closest_corner)) # NOTE make sure we copy it by value start_pos.z_val += args.z_offset start_pos.y_val += args.y_offset start_pos.x_val += args.x_offset plot = Plotter(client) plot.flush_persistent() plot.points([start_pos], Rgba.Red) if args.teleport: ff.log(f"Teleporting to {ff.to_xyz_str(start_pos)}...") new_pose = Pose(start_pos, initial_pose.orientation) Controller.teleport(client, to=new_pose, ignore_collision=True) else: ff.log(f"Flying to {ff.to_xyz_str(start_pos)}...") client.moveToPositionAsync(*ff.to_xyz_tuple(start_pos), velocity=5).join() ff.log("Capturing grid...") time.sleep(2) z = Vector3r(0, 0, args.altitude_shift) path = [ z + Vector3r(*ff.to_xyz_tuple(corner)) for corner in rect.zigzag(lanes=args.zigzags) ] if AUGMENT_PATHS: path = Controller.augment_path(path, AUGMENT_PATHS_MAX_DIST) plot.points(path, Rgba.White) plot.lines(path, Rgba.Green) try: if RECORD: client.startRecording() Controller.fly_path(client, path) except Exception as e: raise e finally: if RECORD: client.stopRecording()
def main(args: argparse.Namespace) -> None: if args.verbose: ff.print_airsim_path(airsim.__path__) preflight(args) # setup client = connect(SIM_MODE) try: fly(client, args) # do stuff except KeyboardInterrupt: client.reset() # avoid UE4 'fatal error' when exiting with Ctrl+C finally: ff.log("Done\n") ff.log_info(f"Used scale = {args.scale} and offset = {args.offset}") ff.log_info(f"Used VELOCITY = {VELOCITY}") ff.log_info(f"Used SIM_MODE = {SIM_MODE}") ff.log_info(f"Used LOOK_AT_TARGET = {to_xyz_str(LOOK_AT_TARGET)}") ff.log_info(f"Used CAPTURE_CAMERA = {CAPTURE_CAMERA}")
def on_press(key): nonlocal edit_mode, swap_mode_key, zone client.simPrintLogMessage("ROI coordinates: ", message_param=str(zone)) if key == swap_mode_key: edit_mode = EditMode.next(edit_mode, skip_rotation=True) client.simPrintLogMessage("Current edit mode: ", message_param=edit_mode.name) elif key == save_rect_key: filename = save_zone(args.outputdir, zone) client.simPrintLogMessage(f"Saved ROI coordinates to '{filename}'") if args.verbose: ff.log_info(f"Saved ROI coordinates to '{filename}'") elif edit_zone(key, edit_mode, zone): client.simFlushPersistentMarkers() client.simPlotLineStrip(points=zone.corners(repeat_first=True), is_persistent=True)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None: initial_pose = client.simGetVehiclePose() if args.verbose: ff.print_pose(initial_pose, airsim.to_eularian_angles) ff.log(client.simGetCameraInfo(camera_name=CAPTURE_CAMERA)) if args.flush or (args.capture_dir and not args.debug): client.simFlushPersistentMarkers() camera_poses = [] for camera in args.trajectory: position = convert_uavmvs_to_airsim_position( camera.position, translation=args.offset, scaling=args.scale ) orientation = quaternion_orientation_from_eye_to_look_at(position, LOOK_AT_TARGET) camera_poses.append(Pose(position, orientation)) if args.debug: camera_positions = [pose.position for pose in camera_poses] client.simPlotPoints(camera_positions, Rgba.Blue, is_persistent=True) client.simPlotLineStrip(camera_positions, Rgba.Cyan, thickness=2.5, is_persistent=True) airsim_record = [] def do_stuff_at_uavmvs_viewpoint(i, pose): nonlocal client, camera_poses, airsim_record log_string = f"({i}/{len(camera_poses)})" p, q = pose.position, pose.orientation if args.debug: log_string += f" position = {to_xyz_str(p)}" client.simPlotTransforms([pose], scale=100, is_persistent=True) # client.simPlotArrows([p], [LOOK_AT_TARGET], Rgba.White, thickness=3.0, duration=10) elif args.capture_dir: path = f"{args.prefix}pose{args.suffix}_{i:0{len(str(len(camera_poses)))}}.png" path = os.path.join(args.capture_dir, path) airsim.write_png(path, AirSimImage.get_mono(client, CAPTURE_CAMERA)) log_string += f' saved image to "{path}"' record_line = AirSimRecord.make_line_string(p, q, time_stamp=str(i), image_file=path) airsim_record.append(record_line) ff.log(log_string) if IS_CV_MODE: for i, camera_pose in enumerate(camera_poses): client.simSetVehiclePose(camera_pose, ignore_collision=True) do_stuff_at_uavmvs_viewpoint(i, camera_pose) time.sleep(CV_SLEEP_SEC) else: client.moveToZAsync(z=-10, velocity=VELOCITY).join() # XXX avoid colliding on take off client.hoverAsync().join() mean_position_error = 0.0 for i, camera_pose in enumerate(camera_poses): client.moveToPositionAsync( *to_xyz_tuple(camera_pose.position), velocity=VELOCITY, drivetrain=DrivetrainType.MaxDegreeOfFreedom, yaw_mode=YawMode(is_rate=False, yaw_or_rate=YAW_N), ).join() with pose_at_simulation_pause(client) as real_pose: # NOTE when we pre-compute the viewpoint's camera orientation, we use the # expected drone position, which (should be close, but) is not the actual # drone position. Hence, we could experiment with using fake orientation: # quaternion_orientation_from_eye_to_look_at(real_pose.position, LOOK_AT_TARGET) fake_pose = Pose(real_pose.position, camera_pose.orientation) client.simSetVehiclePose(fake_pose, ignore_collision=True) client.simContinueForFrames(1) # NOTE ensures pose change do_stuff_at_uavmvs_viewpoint(i, fake_pose) client.simSetVehiclePose(real_pose, ignore_collision=True) position_error = real_pose.position.distance_to(camera_pose.position) mean_position_error += position_error ff.log_debug(f"{position_error = }") mean_position_error /= len(camera_poses) ff.log_debug(f"{mean_position_error = }") if airsim_record: print_to_file = args.record_path is not None file = open(args.record_path, "w") if print_to_file else None print(AirSimRecord.make_header_string(), file=(file if print_to_file else sys.stdout)) for line in airsim_record: print(line, file=(file if print_to_file else sys.stdout)) if print_to_file: file.close() ff.log_info(f'Saved AirSim record to "{args.record_path}"')
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None: # TODO verify we are in "ComputerVision" mode # if (sim_mode := ff.curr_sim_mode()) != ff.SimMode.ComputerVision: # assert False, f"Please change the SimMode from '{sim_mode}' to 'ComputerVision'" if args.roi is not None: if args.verbose: ff.log_info(f"Loading ROI from '{args.roi}'\n") with open(args.roi, "r") as f: zone = Rect.from_dump(f.read()) else: zone = Rect(Vector3r(), Vector3r(0, 10, 0), Vector3r(10, 0, 0)) # repeat the first coordinate to close the line strip client.simPlotLineStrip(points=zone.corners(repeat_first=True), is_persistent=True) # available keys (i.e. not used by AirSim) # ,----------------------------------------------------------------------------------------. # | ` | | | | 4 | 5 | 6 | 7 | 8 | 9 | | -* | = | | # |----------------------------------------------------------------------------------------+ # | Tab | | | | | | Y | U | I* | O | P | [ | ] | | # |----------------------------------------------------------------------------------------+ # | CpsLck | | | | | G | H | J | K* | L | | ' | Enter | # |----------------------------------------------------------------------------------------+ # | Shift | Z | X | C | V | | N | | , | . | | Shift | # `----------------------------------------------------------------------------------------' ff.log("Use [z], [x], [c], [v] to move the region of interest (ROI)") ff.log("Press [lshift] to swap editing modes (translating, scaling)") ff.log("Press [rshift] to save the current ROI to json") edit_mode = EditMode.TRANSLATING # define keyboard callbacks swap_mode_key = keyboard.Key.shift_l save_rect_key = keyboard.Key.shift_r def on_press(key): nonlocal edit_mode, swap_mode_key, zone client.simPrintLogMessage("ROI coordinates: ", message_param=str(zone)) if key == swap_mode_key: edit_mode = EditMode.next(edit_mode, skip_rotation=True) client.simPrintLogMessage("Current edit mode: ", message_param=edit_mode.name) elif key == save_rect_key: filename = save_zone(args.outputdir, zone) client.simPrintLogMessage(f"Saved ROI coordinates to '{filename}'") if args.verbose: ff.log_info(f"Saved ROI coordinates to '{filename}'") elif edit_zone(key, edit_mode, zone): client.simFlushPersistentMarkers() client.simPlotLineStrip(points=zone.corners(repeat_first=True), is_persistent=True) def on_release(key): if key == keyboard.Key.esc: return False # stop the listener # collect events until released with keyboard.Listener(on_press=on_press, on_release=on_release) as listener: ff.log("Press [esc] to quit") listener.join() if args.clear: client.simFlushPersistentMarkers()