simplify python getImageForCamera API

add point_cloud helper.

PythonClient/PythonClient.py

@@ -85,13 +85,14 @@ def rotateByYawRate(self, yaw_rate, duration):
             return self.client.call('rotateByYawRate', yaw_rate, duration)
 
         # camera control
+        # getImageForCamera returns compressed png in array of bytes
         # image_type uses one of the AirSimImageType members
-        def setImageTypeForCamera(self, camera_id, image_type):
-            return self.client.call('setImageTypeForCamera', camera_id, image_type)
-        def getImageTypeForCamera(self, camera_id):
-            return self.client.call('getImageTypeForCamera', camera_id)
         def getImageForCamera(self, camera_id, image_type):
-            return self.client.call('getImageForCamera', camera_id, image_type)
+            # because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
+            str = self.client.call('getImageForCamera', camera_id, image_type)
+            if (result == "" or result == "\0"):
+                return None
+            return np.fromstring(result, np.int8)
 
         # helper method for converting getOrientation to roll/pitch/yaw
         # https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

PythonClient/camera.py

@@ -42,14 +42,12 @@ def printUsage():
 
 while True:
     # because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
-    result = client.getImageForCamera(0, cameraTypeMap[cameraType])
-    if (result == "\0"):
+    rawImage = client.getImageForCamera(0, cameraTypeMap[cameraType])
+    if (rawImage == None):
         print("Camera is not returning image, please check airsim for error messages")
         sys.exit(0)
     else:
-        rawImage = np.fromstring(result, np.int8)
         png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
-
         cv2.putText(png,'FPS ' + str(fps),textOrg, fontFace, fontScale,(255,0,255),thickness)
         cv2.imshow("Depth", png)
 

PythonClient/point_cloud.py

@@ -0,0 +1,41 @@
+# use open cv to create point cloud from depth image.
+
+from PythonClient import *
+import cv2
+import time
+import sys
+
+outputFile = "cloud.txt"
+color = (0,255,0)
+rgb = "%d %d %d" % color
+
+def printUsage():
+   print("Usage: python point_cloud.py [cloud.txt]")
+
+def savePointCloud(image, fileName):
+   f = open(fileName, "w")
+   for x in xrange(image.shape[0]):
+     for y in xrange(image.shape[1]):
+        x,y,z = image[x,y]
+        f.write("%f %f %f %s\n" % (x, y, z, rgb))
+   f.close()
+
+for arg in sys.argv[1:]:
+  cloud.txt = arg
+
+client = AirSimClient('127.0.0.1')
+
+while True:
+    rawImage = client.getImageForCamera(0, AirSimImageType.Depth)
+    if (rawImage == None):
+        print("Camera is not returning image, please check airsim for error messages")
+        sys.exit(0)
+    else:
+        png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
+        savePointCloud(pnf, outputFile)
+        print("saved " + outputFile)
+        sys.exit(0)
+
+    key = cv2.waitKey(1) & 0xFF;
+    if (key == 27 or key == ord('q') or key == ord('x')):
+        break;