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 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 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
client.setCarControls(car_controls)
print("Go reverse, steer right")
time.sleep(3) # let car drive a bit
car_controls.is_manual_gear = False # change back gear to auto
car_controls.manual_gear = 0
# apply brakes
car_controls.brake = 1
client.setCarControls(car_controls)
print("Apply brakes")
time.sleep(3) # let car drive a bit
car_controls.brake = 0 #remove brake
# get camera images from the car
responses = client.simGetImages([
airsim.ImageRequest("0", airsim.ImageType.DepthVis), #depth visualization image
airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True), #depth in perspective projection
airsim.ImageRequest("1", airsim.ImageType.Scene), #scene vision image in png format
airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)]) #scene vision image in uncompressed RGB array
print('Retrieved images: %d' % len(responses))
for response_idx, response in enumerate(responses):
filename = os.path.join(tmp_dir, f"{idx}_{response.image_type}_{response_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
