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swarm.py
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swarm.py
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import setup_path
import airsim
import sys
import time
import os
import tempfile
import numpy as np
import cv2
import pprint
import math
#---------------Connecting to Airsim , Vehical opened & API connected---------------#
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True,"Drone1")
client.enableApiControl(True,"Drone2")
client.enableApiControl(True,"Drone3")
client.enableApiControl(True,"Drone4")
client.enableApiControl(True,"Drone5")
#---------------Arming drone---------------#
print("arming the drone...")
client.armDisarm(True,"Drone1")
client.armDisarm(True,"Drone2")
client.armDisarm(True,"Drone3")
client.armDisarm(True,"Drone4")
client.armDisarm(True,"Drone5")
#---------------Weather Conditions---------------#
wind = airsim.Vector3r(0,0,0)
client.simSetWind(wind)
time.sleep(1)
#---------------Taking off---------------#
d1 = client.takeoffAsync(vehicle_name="Drone1")
d2 = client.takeoffAsync(vehicle_name="Drone2")
d3 = client.takeoffAsync(vehicle_name="Drone3")
d4 = client.takeoffAsync(vehicle_name="Drone4")
d5 = client.takeoffAsync(vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
#---------------Final Hover Height---------------#
z1 = -30
z2 = -60
z3 = -90
z4 = -120
z5 = -180
print("make sure we are hovering at 3 , 6 , 9 , 12 and 18 meters respectively...")
d1 = client.moveToPositionAsync(0,0,z1,2,vehicle_name="Drone1")
d2 = client.moveToPositionAsync(0,0,z2,2,vehicle_name="Drone2")
d3 = client.moveToPositionAsync(0,0,z3,2,vehicle_name="Drone3")
d4 = client.moveToPositionAsync(0,0,z4,2,vehicle_name="Drone4")
d5 = client.moveToPositionAsync(0,0,z5,2,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
#---------------Camera angles , positions and view are adjusted for drone---------------#
cam1_pitch_angle = -5
cam2_pitch_angle = -13 #-13
cam3_pitch_angle = -21 #-21
cam4_pitch_angle = -27 #-27
cam5_pitch_angle = -33 #-33
#---------------Planed path---------------#
d = 3 #image taking differrence
s = 1 #survey drone speed
print(" - - - - - Starting Survey - - - - - ")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam1_pitch_angle),0,0))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone1")
print("Camera angle adjusted for Drone1")
time.sleep(1)
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam2_pitch_angle),0,0))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone2")
print("Camera angle adjusted for Drone2")
time.sleep(1)
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam3_pitch_angle),0,0))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone3")
print("Camera angle adjusted for Drone3")
time.sleep(1)
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam4_pitch_angle),0,0))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone4")
print("Camera angle adjusted for Drone4")
time.sleep(1)
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam5_pitch_angle),0,0))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone5")
print("Camera angle adjusted for Drone5")
time.sleep(1)
print("Going To 1st survery Point...")
x = -3
y = 5
# x = -3 y = 56
while(y <= 56):
print("Going to next location to take images ...")
d1 = client.moveToPositionAsync(x,y,z1,s,vehicle_name="Drone1")
d2 = client.moveToPositionAsync(x,y+2,z2,s,vehicle_name="Drone2")
d3 = client.moveToPositionAsync(x,y+4,z3,s,vehicle_name="Drone3")
d4 = client.moveToPositionAsync(x,y+6,z4,s,vehicle_name="Drone4")
d5 = client.moveToPositionAsync(x,y+8,z5,s,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
time.sleep(1)
print("(Drone 1) Taking RGB images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone1")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-1-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 1) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone1")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("1-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 2) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone2")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-2-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 2) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone2")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("2-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 3) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone3")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-3-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 3) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone3")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("3-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 4) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone4")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-4-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 4) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone4")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("4-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 5) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone5")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-5-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 5) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone5")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("5-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
time.sleep(1)
y = y + d
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam1_pitch_angle),0,math.radians(-90)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone1")
print("Camera angle adjusted for Drone1")
d1 = client.rotateToYawAsync(-90,vehicle_name="Drone1")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam2_pitch_angle),0,math.radians(-90)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone2")
print("Camera angle adjusted for Drone2")
d2 = client.rotateToYawAsync(-90,vehicle_name="Drone2")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam3_pitch_angle),0,math.radians(-90)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone3")
print("Camera angle adjusted for Drone3")
d3 = client.rotateToYawAsync(-90,vehicle_name="Drone3")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam4_pitch_angle),0,math.radians(-90)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone4")
print("Camera angle adjusted for Drone4")
d4 = client.rotateToYawAsync(-90,vehicle_name="Drone4")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam5_pitch_angle),0,math.radians(-90)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone5")
print("Camera angle adjusted for Drone4")
d5 = client.rotateToYawAsync(-90,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
print("Going To 2nd survery Point...")
x = -3
y = 56
# x = 69 y = 56
while(x <= 69):
print("Going to next location to take images ...")
d1 = client.moveToPositionAsync(x,y,z1,s,vehicle_name="Drone1")
d2 = client.moveToPositionAsync(x,y+2,z2,s,vehicle_name="Drone2")
d3 = client.moveToPositionAsync(x,y+4,z3,s,vehicle_name="Drone3")
d4 = client.moveToPositionAsync(x,y+6,z4,s,vehicle_name="Drone4")
d5 = client.moveToPositionAsync(x,y+8,z5,s,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
time.sleep(1)
print("(Drone 1) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)],vehicle_name="Drone1")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-1-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 1) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone1")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("1-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 2) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone2")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-2-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 2) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone2")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("2-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 3) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone3")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-3-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 3) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone3")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("3-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 4) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone4")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-4-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 4) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone4")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("4-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 5) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone5")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-5-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 5) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone5")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("5-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
time.sleep(1)
x = x + d
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam1_pitch_angle),0,math.radians(-180)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone1")
print("Camera angle adjusted for Drone1")
d1 = client.rotateToYawAsync(-180,vehicle_name="Drone1")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam2_pitch_angle),0,math.radians(-180)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone2")
print("Camera angle adjusted for Drone2")
d2 = client.rotateToYawAsync(-180,vehicle_name="Drone2")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam3_pitch_angle),0,math.radians(-180)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone3")
print("Camera angle adjusted for Drone3")
d3 = client.rotateToYawAsync(-180,vehicle_name="Drone3")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam4_pitch_angle),0,math.radians(-180)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone4")
print("Camera angle adjusted for Drone4")
d4 = client.rotateToYawAsync(-180,vehicle_name="Drone4")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam5_pitch_angle),0,math.radians(-180)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone5")
print("Camera angle adjusted for Drone5")
d5 = client.rotateToYawAsync(-180,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
print("Going To 3rd survery Point...")
x = 69
y = 56
# x = 69 y = 5
while(y >= 5):
print("Going to next location to take images ...")
d1 = client.moveToPositionAsync(x,y,z1,s,vehicle_name="Drone1")
d2 = client.moveToPositionAsync(x,y+2,z2,s,vehicle_name="Drone2")
d3 = client.moveToPositionAsync(x,y+4,z3,s,vehicle_name="Drone3")
d4 = client.moveToPositionAsync(x,y+6,z4,s,vehicle_name="Drone4")
d5 = client.moveToPositionAsync(x,y+8,z5,s,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
time.sleep(1)
print("(Drone 1) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)],vehicle_name="Drone1")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-1-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 1) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone1")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("1-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 2) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone2")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-2-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 2) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone2")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("2-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 3) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone3")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-3-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 3) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone3")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("3-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 4) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone4")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-4-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 4) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone4")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("4-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 5) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone5")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-5-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 5) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone5")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("5-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
time.sleep(1)
time.sleep(1)
y = y - d
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam1_pitch_angle),0,math.radians(-270)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone1")
print("Camera angle adjusted for Drone1")
d1 = client.rotateToYawAsync(-270,vehicle_name="Drone1")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam2_pitch_angle),0,math.radians(-270)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone2")
print("Camera angle adjusted for Drone2")
d2 = client.rotateToYawAsync(-270,vehicle_name="Drone2")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam3_pitch_angle),0,math.radians(-270)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone3")
print("Camera angle adjusted for Drone3")
d3 = client.rotateToYawAsync(-270,vehicle_name="Drone3")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam4_pitch_angle),0,math.radians(-270)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone4")
print("Camera angle adjusted for Drone4")
d4 = client.rotateToYawAsync(-270,vehicle_name="Drone4")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam5_pitch_angle),0,math.radians(-270)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone5")
print("Camera angle adjusted for Drone4")
d5 = client.rotateToYawAsync(-270,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
print("Going To 1st survery Point...")
x = 69
y = 5
# x = -3 y = 5
while(x >= -3):
print("Going to next location to take images ...")
d1 = client.moveToPositionAsync(x,y,z1,s,vehicle_name="Drone1")
d2 = client.moveToPositionAsync(x,y+2,z2,s,vehicle_name="Drone2")
d3 = client.moveToPositionAsync(x,y+4,z3,s,vehicle_name="Drone3")
d4 = client.moveToPositionAsync(x,y+6,z4,s,vehicle_name="Drone4")
d5 = client.moveToPositionAsync(x,y+8,z5,s,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
time.sleep(1)
print("(Drone 1) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)],vehicle_name="Drone1")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-1-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 1) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone1")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("1-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 2) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone2")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-2-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 2) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone2")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("2-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 3) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone3")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-3-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 3) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone3")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("3-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 4) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone4")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-4-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 4) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone4")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("4-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
print("(Drone 5) Taking images ...")
responses = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)],vehicle_name="Drone5")
response = responses[0]
img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
filename = time.strftime("%Y%m%d-5-%H%M%S")
airsim.write_png(os.path.normpath(filename + '.png'), img_rgb)
# print("(Drone 1) Taking Depth images ...")
# responses_depth = client.simGetImages([airsim.ImageRequest("0", airsim.ImageType.DepthPlanar, False, False)],vehicle_name="Drone5")
# response_depth = responses_depth[0]
# img1d = np.frombuffer(response_depth.image_data_uint8, dtype=np.uint8)
# img_depth = img1d.reshape(response_depth.height, response_depth.width, 3)
# filename = time.strftime("5-%H%M%S-Depth")
# airsim.write_png(os.path.normpath(filename + '.png'), img_depth)
time.sleep(1)
time.sleep(1)
x = x - d
angle = -360
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam1_pitch_angle),0,math.radians(angle)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone1")
print("Camera angle adjusted for Drone1")
d1 = client.rotateToYawAsync(angle,vehicle_name="Drone1")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam2_pitch_angle),0,math.radians(angle)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone2")
print("Camera angle adjusted for Drone2")
d2 = client.rotateToYawAsync(angle,vehicle_name="Drone2")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam3_pitch_angle),0,math.radians(angle)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone3")
print("Camera angle adjusted for Drone3")
d3 = client.rotateToYawAsync(angle,vehicle_name="Drone3")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam4_pitch_angle),0,math.radians(angle)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone4")
print("Camera angle adjusted for Drone4")
d4 = client.rotateToYawAsync(angle,vehicle_name="Drone4")
camera_pose = airsim.Pose(airsim.Vector3r(0,0,0),airsim.to_quaternion(math.radians(cam5_pitch_angle),0,math.radians(angle)))
client.simSetCameraPose("0",camera_pose,vehicle_name="Drone5")
print("Camera angle adjusted for Drone5")
d5 = client.rotateToYawAsync(angle,vehicle_name="Drone5")
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
time.sleep(2)
print("Survey Complete for Drone1 , Drone2 , Drone3 , Drone4 & Drone5...")
#---------------sendind home & Landing drone---------------#
d1 = client.goHomeAsync(vehicle_name="Drone1")
time.sleep(5)
d2 = client.goHomeAsync(vehicle_name="Drone2")
time.sleep(5)
d3 = client.goHomeAsync(vehicle_name="Drone3")
time.sleep(5)
d4 = client.goHomeAsync(vehicle_name="Drone4")
time.sleep(5)
d5 = client.goHomeAsync(vehicle_name="Drone5")
time.sleep(5)
d1.join()
d2.join()
d3.join()
d4.join()
d5.join()
#---------------Disarming Drone---------------#
print("disarming the drone...")
client.armDisarm(False,"Drone1")
client.armDisarm(False,"Drone2")
client.armDisarm(False,"Drone3")
client.armDisarm(False,"Drone4")
client.armDisarm(False,"Drone5")
#---------------Vehical closed & API disconnected---------------#
client.reset()
client.enableApiControl(False,"Drone1")
client.enableApiControl(False,"Drone2")
client.enableApiControl(False,"Drone3")
client.enableApiControl(False,"Drone4")
client.enableApiControl(False,"Drone5")