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))
self.time_to_grab_images = time.time() - tic
# 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)
]) # 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 = img_rgba_FC
self.images_rgb = img_rgb_FC
self.time_to_grab_images = time.time() - tic
self.client.simPause(False)
def retrieval_3d(self, client, camera_name, img_arg1=True, img_arg2=False):
images = client.simGetImages([
client.ImageRequest(camera_name, client.ImageType.Scene, img_arg1,
img_arg2)
]) # Front Center
img = np.fromstring(images[0].image_data_uint8, dtype=np.uint8)
img = np.array(img.reshape(images[0].height, images[0].width, 3),
dtype=np.uint8)
return img
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))
self.images_rgb[vehicleName] = np.dstack(
(img_rgb_FC, img_rgb_FR, img_rgb_FL))
print('Images Collected!')
print("Time to Grab Images: ", time.time() - tic)
# We Just want front
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=vehicleName)
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[vehicleName] = img_rgba_FC
self.images_rgb[vehicleName] = img_rgb_FC
print('Images Collected!')
print("Time to Grab Images: ", time.time() - tic)
else:
print("A screw up in set new images")
def pset_simulator_state_info(self):
# This function will set the latest simulator information within the class
# The State's components will be
self.client.simPause(True)
# Get Base Inertial States
# Collect and Display Elapsed Time Between States
self.toc = time.time()
self.dt = self.toc - self.tic
for vn in self.vehicle_names:
state = self.client.simGetGroundTruthKinematics(vehicle_name=vn)
pos = (state['position']['x_val'], state['position']['y_val'],
state['position']['z_val'])
vel = (state['linear_velocity']['x_val'],
state['linear_velocity']['y_val'],
state['linear_velocity']['z_val'])
acc = (state['linear_acceleration']['x_val'],
state['linear_acceleration']['y_val'],
state['linear_acceleration']['z_val'])
angVel = (state['angular_velocity']['x_val'],
state['angular_velocity']['y_val'],
state['angular_velocity']['z_val'])
angAcc = (state['angular_acceleration']['x_val'],
state['angular_acceleration']['y_val'],
state['angular_acceleration']['z_val'])
# Store the current state
self.current_inertial_states[vn] = np.array([
pos[0] - self.initial_position[vn][0],
pos[1] - self.initial_position[vn][1],
pos[2] - self.initial_position[vn][2],
vel[0] - self.initial_velocity[vn][0],
vel[1] - self.initial_velocity[vn][1],
vel[2] - self.initial_velocity[vn][2], acc[0], acc[1], acc[2],
angVel[0], angVel[1], angVel[2], angAcc[0], angAcc[1],
angAcc[2]
])
# Posx, Posy, PosZ, Vx, Vy, Vz, Ax, Ay, Az, AngVelx, AngVely, AngVelz, AngAccx, AngAccy, AngAccz
# Construct the Images State Vector
# Order is Front Center, Front Right, Front Left
for vn in self.vehicle_names:
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=vn) # 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)
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()
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))
self.time_to_grab_images = time.time() - tic
print("Time to Grab Images: ", self.time_to_grab_images)
# We Just want front
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)
])
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 = img_rgba_FC
self.images_rgb = img_rgb_FC
self.time_to_grab_images = time.time() - tic
print("Time to Grab Images: ", self.time_to_grab_images)
else:
print("A screw up in set new images")