AirSim图像获取

图像获取API

import airsim #pip install airsim

# for car use CarClient() 
client = airsim.MultirotorClient()

png_image = client.simGetImage("0", airsim.ImageType.Scene)
# do something with image

参数反别是“0” ， 0
ImageType一共8种类型
simGetImage获得单个图片

    def simGetImage(self, camera_name, image_type, vehicle_name = '', external = False):
        """
        Get a single image

        Returns bytes of png format image which can be dumped into abinary file to create .png image
        `string_to_uint8_array()` can be used to convert into Numpy unit8 array
        See https://microsoft.github.io/AirSim/image_apis/ for details

        Args:
            camera_name (str): Name of the camera, for backwards compatibility, ID numbers such as 0,1,etc. can also be used
            image_type (ImageType): Type of image required
            vehicle_name (str, optional): Name of the vehicle with the camera
            external (bool, optional): Whether the camera is an External Camera

        Returns:
            Binary string literal of compressed png image
        """
#todo : in future remove below, it's only for compatibility to pre v1.2
        camera_name = str(camera_name)

#because this method returns std::vector < uint8>, msgpack decides to encode it as a string unfortunately.
        result = self.client.call('simGetImage', camera_name, image_type, vehicle_name, external)
        if (result == "" or result == "\0"):
            return None
        return result

class ImageType(metaclass=_ImageType):
    Scene = 0				#景象
    DepthPlanar = 1			#深度平面
    DepthPerspective = 2	#深度透视
    DepthVis = 3			#深度Vis（可见光？）
    DisparityNormalized = 4	#
    Segmentation = 5
    SurfaceNormals = 6
    Infrared = 7

simGetImages获得多个图片，它一共三个参数：需求，名字，是否有外部相机？

    def simGetImages(self, requests, vehicle_name = '', external = False):
        """
        Get multiple images

        See https://microsoft.github.io/AirSim/image_apis/ for details and examples

        Args:
            requests (list[ImageRequest]): Images required
            vehicle_name (str, optional): Name of vehicle associated with the camera
            external (bool, optional): Whether the camera is an External Camera

        Returns:
            list[ImageResponse]:
        """
        responses_raw = self.client.call('simGetImages', requests, vehicle_name, external)
        return [ImageResponse.from_msgpack(response_raw) for response_raw in responses_raw]

截取两张图片。分别是类型0和类型1
保存在D:\ZYG\Atemp文件夹下，
os.path.normpath是规范path字符串形式，指定文件路径

# ready to run example: PythonClient/multirotor/hello_drone.py
import airsim
import os

# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)

# Async methods returns Future. Call join() to wait for task to complete.
client.takeoffAsync().join()
client.moveToPositionAsync(-10, 10, -10, 5).join()

# take images
responses = client.simGetImages([
    airsim.ImageRequest("0", airsim.ImageType.DepthVis),
    airsim.ImageRequest("1", airsim.ImageType.DepthPlanar, True)])
print('Retrieved images: %d' % (len(responses)))

# do something with the images
for response in responses:
    if response.pixels_as_float:
        print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
        airsim.write_pfm(os.path.normpath('D:\ZYG\Atemp/py1.pfm'), airsim.get_pfm_array(response))
    else:
        print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
        airsim.write_file(os.path.normpath('D:\ZYG\Atemp/py1.png'), response.image_data_uint8)

hello_drone代码部分卡在airsim.wait_key(‘Press any key to takeoff’)

一直输入 不会结束

import setup_path
import airsim

import numpy as np
import os
import tempfile
import pprint
import cv2

# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)

state = client.getMultirotorState()
s = pprint.pformat(state)
print("state: %s" % s)

imu_data = client.getImuData()
s = pprint.pformat(imu_data)
print("imu_data: %s" % s)

barometer_data = client.getBarometerData()
s = pprint.pformat(barometer_data)
print("barometer_data: %s" % s)

magnetometer_data = client.getMagnetometerData()
s = pprint.pformat(magnetometer_data)
print("magnetometer_data: %s" % s)

gps_data = client.getGpsData()
s = pprint.pformat(gps_data)
print("gps_data: %s" % s)

airsim.wait_key('Press any key to takeoff')

解决方法是在菜单栏Run->Edit Configurations->选中文件勾选下方Emulate terminal in output console