def main(args: argparse.Namespace) -> None:
if args.verbose:
ff.print_airsim_path(airsim.__path__)
preflight(args) # setup
client = connect(ff.SimMode.ComputerVision)
try:
fly(client, args) # do stuff
except KeyboardInterrupt:
client.reset() # avoid UE4 'fatal error' when exiting with Ctrl+C
finally:
ff.log("Done")
def main(args: argparse.Namespace) -> None:
if args.verbose:
ff.print_airsim_path(airsim.__path__)
assert args.env_name is not None, "missing --launch option"
ff.launch_env(*ff.LaunchEnvArgs(args))
if not args.skip_connect:
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
client = connect(ff.SimMode.ComputerVision)
time.sleep(1)
client.reset()
ff.log("Done")
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}")
pcd_points = np.asarray(pcd.points) # XXX flipping Y and Z coordinates
pcd_points[:, 1] *= -1
pcd_points[:, 2] *= -1
if args.align_path is not None:
align_pcd_to_airsim = np.loadtxt(args.align_path)
else:
align_pcd_to_airsim = None
view_poses = [
airsim.Pose(rec.position, rec.orientation)
for rec in airsimy.AirSimRecord.list_from(args.rec_path)
]
client = airsimy.connect(ff.SimMode.ComputerVision)
# client = airsimy.connect(ff.SimMode.Multirotor)
client.simFlushPersistentMarkers()
client.simPlotPoints([airsim.Vector3r(*p) for p in pcd_points],
[1, 1, 1, 1], 3, -1, True)
# client.simPlotTransforms(view_poses, 200, 3, -1, True)
for i, pose in enumerate(view_poses):
tl, tr, bl, br = airsimy.viewport_vectors(pose,
hfov_degrees=90,
aspect_ratio=(16 / 9))
viewport_points = airsimy.frustum_plot_list_from_viewport_vectors(
pose, tl, tr, bl, br)
client.simPlotLineList(viewport_points, [1, 1, 1, 1], 3, 30, False)
client.simPlotTransformsWithNames([pose], [f"pose #{i}"], 200, 3, 1,