Pythonclient: example script for testing external cameras

PythonClient/computer_vision/external_camera.py

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+import airsim
+import os
+import tempfile
+
+"""
+A simple script to test all the camera APIs. Change the cmaera name and whether it's an external camera
+
+Example Settings for external camera -
+
+{
+    "SettingsVersion": 1.2,
+    "SimMode": "Car",
+    "ExternalCameras": {
+        "fixed1": {
+            "X": 0, "Y": 0, "Z": -5,
+            "Pitch": -90, "Roll": 0, "Yaw": 0
+        }
+    }
+}
+"""
+
+# Just change the below to test different cameras easily!
+CAM_NAME = "fixed1"
+IS_EXTERNAL_CAM = True
+
+
+client = airsim.VehicleClient()
+client.confirmConnection()
+
+tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_cv_mode")
+print ("Saving images to %s" % tmp_dir)
+try:
+    os.makedirs(tmp_dir)
+except OSError:
+    if not os.path.isdir(tmp_dir):
+        raise
+
+print(f"Camera: {CAM_NAME}, External = {IS_EXTERNAL_CAM}")
+
+# Test Camera info
+cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
+print(cam_info)
+
+# Test Image APIs
+airsim.wait_key('Press any key to get images')
+
+requests = [airsim.ImageRequest(CAM_NAME, airsim.ImageType.Scene),
+            airsim.ImageRequest(CAM_NAME, airsim.ImageType.DepthPlanner),
+            airsim.ImageRequest(CAM_NAME, airsim.ImageType.DepthVis),
+            airsim.ImageRequest(CAM_NAME, airsim.ImageType.Segmentation),
+            airsim.ImageRequest(CAM_NAME, airsim.ImageType.SurfaceNormals)]
+
+def save_images(responses, prefix = ""):
+    for i, response in enumerate(responses):
+        filename = os.path.join(tmp_dir, prefix + "_" + str(i))
+
+        if response.pixels_as_float:
+            print(f"Type {response.image_type}, size {len(response.image_data_float)}, pos {response.camera_position}")
+            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
+        else:
+            print(f"Type {response.image_type}, size {len(response.image_data_uint8)}, pos {response.camera_position}")
+            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
+
+
+responses = client.simGetImages(requests, external=IS_EXTERNAL_CAM)
+save_images(responses, "old_fov")
+
+
+# Test FoV API
+airsim.wait_key('Press any key to change FoV and get images')
+
+client.simSetCameraFov(CAM_NAME, 120, external=IS_EXTERNAL_CAM)
+
+responses = client.simGetImages(requests, external = IS_EXTERNAL_CAM)
+save_images(responses, "new_fov")
+
+new_cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
+print(f"Old FOV: {cam_info.fov}, New FOV: {new_cam_info.fov}")
+
+
+# Test Pose APIs
+new_pose = airsim.Pose(airsim.Vector3r(-10, -5, -5), airsim.to_quaternion(0.1, 0, 0.1))
+client.simSetCameraPose(CAM_NAME, new_pose, external=IS_EXTERNAL_CAM)
+
+responses = client.simGetImages(requests, external=IS_EXTERNAL_CAM)
+save_images(responses, "new_pose")
+
+new_cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
+print(f"Old Pose: {cam_info.pose}, New Pose: {new_cam_info.pose}")
+
+
+# Test Distortion params APIs
+dist_params = client.simGetDistortionParams(CAM_NAME, external=IS_EXTERNAL_CAM)
+print(f"Distortion Params: {dist_params}")
+
+new_params_dict = {"K1": 0.1, "K2": 0.01, "K3": 0.0, "P1": 0.0, "P2": 0.0}
+print(f"Setting distortion params as {new_params_dict}")
+client.simSetDistortionParams(CAM_NAME, new_params_dict, external=IS_EXTERNAL_CAM)
+
+dist_params = client.simGetDistortionParams(CAM_NAME, external=IS_EXTERNAL_CAM)
+print(f"Updated Distortion Params: {dist_params}")