sess.run(init_op)
# Once the brakes come on, we need to keep them on for a while before exiting; otherwise,
# the vehicle will resume moving.
brakingCount = 0
# Loop until we detect a collision
while True:
# Get RGBA camera images from the car
responses = client.simGetImages(
[ImageRequest(1, AirSimImageType.Scene)])
# Save it to a temporary file
image = responses[0].image_data_uint8
AirSimClientBase.write_file(os.path.normpath(TMPFILE), image)
# Read-load the image as a grayscale array
image = loadgray(TMPFILE)
# Run the image through our inference engine.
# Engine returns a softmax output inside a list, so we grab the first
# element of the list (the actual softmax vector), whose second element
# is the absence of an obstacle.
safety = sess.run(output, feed_dict={x: [image]})[0][1]
# Slam on the brakes if it ain't safe!
if safety < 0.5:
if brakingCount > BRAKING_DURATION:
print('BRAKING TO AVOID COLLISSION')
z = client.moveToZ(initialZ, 5)
if z == True:
x1 = client.moveByVelocityZ(vx, vy, initialZ, 100)
while True:
#Get uncompressed RGBA array bytes
responses = client.simGetImages([ImageRequest(3, AirSimImageType.Scene)])
#Add image to queue
imagequeue.append(responses[0].image_data_uint8)
#Dump queue when it gets full
if len(imagequeue) == maximages:
for i in range(maximages):
AirSimClientBase.write_file(os.path.normpath(IMAGEDIR + '/image%03d.png' % i ), imagequeue[i])
imagequeue.pop(0)
#Receive info when drone has collided
collision = client.getCollisionInfo()
if collision.has_collided:
print("Drone has collided")
client.reset()
break
client.enableApiControl(False)
imagequeue = []
while True:
client.moveByVelocityAsync(vx, vy, 0, 1, airsim.DrivetrainType.ForwardOnly,
airsim.YawMode(False, 0)).join()
# get RGBA camera images from the car
responses = client.simGetImages([ImageRequest(1, AirSimImageType.Scene)])
# add image to queue
imagequeue.append(responses[0].image_data_uint8)
# dump queue when it gets full
if len(imagequeue) == QUEUESIZE:
for i in range(QUEUESIZE):
AirSimClientBase.write_file(
os.path.normpath(IMAGEDIR + '/image%03d.png' % i),
imagequeue[i])
imagequeue.pop(0)
collision_info = client.simGetCollisionInfo()
if collision_info.has_collided:
print(
"Collision at pos %s, normal %s, impact pt %s, penetration %f, name %s, obj id %d"
% (pprint.pformat(collision_info.position),
pprint.pformat(collision_info.normal),
pprint.pformat(collision_info.impact_point),
collision_info.penetration_depth, collision_info.object_name,
collision_info.object_id))
break
client = CarClient()
client.confirmConnection()
print('Connected')
#client.enableApiControl(True)
car_controls = CarControls()
#client.reset()
## go forward
#car_controls.throttle = 1.0
#car_controls.steering = 0
#client.setCarControls(car_controls)
cnt = 0
while True:
# get RGBA camera images from the car
responses = client.simGetImages(
[ImageRequest(1, AirSimImageType.Segmentation)])
image = responses[0].image_data_uint8
AirSimClientBase.write_file(
os.path.normpath(IMAGEDIR + '/image%03d.png' % cnt), image)
print('save image%03d' % cnt)
cnt += 1
time.sleep(0.1)