Rename DepthPlanner to DepthPlanar

AirLib/include/common/ImageCaptureBase.hpp

@@ -15,7 +15,7 @@ class ImageCaptureBase
 public: //types
     enum class ImageType : int { //this indexes to array, -1 is special to indicate main camera
         Scene = 0, 
-        DepthPlanner, 
+        DepthPlanar, 
         DepthPerspective,
         DepthVis, 
         DisparityNormalized,

Examples/DataCollection/DataCollectorSGM.h

@@ -56,7 +56,7 @@ class DataCollectorSGM {
         std::vector<ImageRequest> request = { 
             ImageRequest("front_left", ImageType::Scene, false, false), 
             ImageRequest("front_right", ImageType::Scene, false, false),
-            ImageRequest("front_left", ImageType::DepthPlanner, true),
+            ImageRequest("front_left", ImageType::DepthPlanar, true),
             ImageRequest("front_left", ImageType::DisparityNormalized, true)
         };
         const std::vector<ImageResponse>& response_init = client.simGetImages(request);

Examples/DepthNav/DepthNavOptAStar.hpp

@@ -93,7 +93,7 @@ class DepthNavOptAStar {
 
         do {
             std::vector<ImageRequest> request = {
-                ImageRequest("1", ImageType::DepthPlanner, true) /*,
+                ImageRequest("1", ImageType::DepthPlanar, true) /*,
                                                                  ImageRequest("1", ImageType::Scene),
                                                                  ImageRequest("1", ImageType::DisparityNormalized, true) */
             };

Examples/main.cpp

@@ -104,7 +104,7 @@ void runDepthNavGT()
     typedef ImageCaptureBase::ImageType ImageType;
 
     std::vector<ImageRequest> request = {
-        ImageRequest("front_left", ImageType::DepthPlanner, true) /*,
+        ImageRequest("front_left", ImageType::DepthPlanar, true) /*,
         ImageRequest("front_left", ImageType::Scene),
         ImageRequest("front_left", ImageType::DisparityNormalized, true) */
     };
@@ -135,7 +135,7 @@ void runDepthNavSGM()
     std::vector<ImageRequest> request = {
         ImageRequest("front_left", ImageType::Scene, false, false), 
         ImageRequest("front_right", ImageType::Scene, false, false), /*
-        ImageRequest("front_left", ImageType::DepthPlanner, true), 
+        ImageRequest("front_left", ImageType::DepthPlanar, true), 
         ImageRequest("front_left", ImageType::DisparityNormalized, true) */
     };
 

HelloCar/main.cpp

@@ -34,7 +34,7 @@ int main()
         client.confirmConnection();
 
         std::cout << "Press Enter to get FPV image" << std::endl; std::cin.get();
-        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
+        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
         const vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 

HelloDrone/main.cpp

@@ -27,10 +27,8 @@ int main()
     try {
         client.confirmConnection();
 
-        std::cout << "Press Enter to get FPV image" << std::endl;
-        std::cin.get();
-
-        vector<ImageRequest> request{ ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanner, true) };
+        std::cout << "Press Enter to get FPV image" << std::endl; std::cin.get();
+        vector<ImageRequest> request = { ImageRequest("0", ImageType::Scene), ImageRequest("1", ImageType::DepthPlanar, true) };
         const vector<ImageResponse>& response = client.simGetImages(request);
         std::cout << "# of images received: " << response.size() << std::endl;
 

PythonClient/airsim/types.py

@@ -22,7 +22,7 @@ def from_msgpack(cls, encoded):
 
 class ImageType:
     Scene = 0
-    DepthPlanner = 1
+    DepthPlanar = 1
     DepthPerspective = 2
     DepthVis = 3
     DisparityNormalized = 4

PythonClient/computer_vision/cv_navigate.py

@@ -182,7 +182,7 @@ def moveUAV(client,pos,yaw):
 step = 0.1
 
 responses = client.simGetImages([
-    airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
+    airsim.ImageRequest("1", airsim.ImageType.DepthPlanar, True)])
 response = responses[0]
 
 #initial position
@@ -197,7 +197,7 @@ def moveUAV(client,pos,yaw):
 
     # get response
     responses = client.simGetImages([
-        airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
+        airsim.ImageRequest("1", airsim.ImageType.DepthPlanar, True)])
     response = responses[0]
 
     # get numpy array

PythonClient/multirotor/kinect_publisher.py

@@ -194,7 +194,7 @@ def CreateTFMessage(self):
     pub = KinectPublisher()
 
     while not rospy.is_shutdown():
-        responses = client.simGetImages([airsim.ImageRequest(0, airsim.ImageType.DepthPlanner, True, False),
+        responses = client.simGetImages([airsim.ImageRequest(0, airsim.ImageType.DepthPlanar, True, False),
                                          airsim.ImageRequest(0, airsim.ImageType.Scene, False, False)])
         img_depth = pub.getDepthImage(responses[0])
         img_rgb = pub.getRGBImage(responses[1])

Unity/UnityDemo/Assets/AirSimAssets/Scripts/Utilities/AirSimStructs.cs

@@ -457,7 +457,7 @@ public void reset() {
 
     public enum ImageType {
         Scene = 0,
-        DepthPlanner,
+        DepthPlanar,
         DepthPerspective,
         DepthVis,
         DisparityNormalized,

Unreal/Plugins/AirSim/Source/PIPCamera.cpp

@@ -55,8 +55,8 @@ void APIPCamera::PostInitializeComponents()
 
     captures_[Utils::toNumeric(ImageType::Scene)] = 
         UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("SceneCaptureComponent"));
-    captures_[Utils::toNumeric(ImageType::DepthPlanner)] = 
-        UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("DepthPlannerCaptureComponent"));
+    captures_[Utils::toNumeric(ImageType::DepthPlanar)] = 
+        UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("DepthPlanarCaptureComponent"));
     captures_[Utils::toNumeric(ImageType::DepthPerspective)] =
         UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("DepthPerspectiveCaptureComponent"));
     captures_[Utils::toNumeric(ImageType::DepthVis)] = 

docs/apis.md

@@ -66,7 +66,7 @@ while True:
     # get camera images from the car
     responses = client.simGetImages([
         airsim.ImageRequest(0, airsim.ImageType.DepthVis),
-        airsim.ImageRequest(1, airsim.ImageType.DepthPlanner, True)])
+        airsim.ImageRequest(1, airsim.ImageType.DepthPlanar, True)])
     print('Retrieved images: %d', len(responses))
 
     # do something with images
@@ -101,7 +101,7 @@ client.moveToPositionAsync(-10, 10, -10, 5).join()
 # take images
 responses = client.simGetImages([
     airsim.ImageRequest("0", airsim.ImageType.DepthVis),
-    airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
+    airsim.ImageRequest("1", airsim.ImageType.DepthPlanar, True)])
 print('Retrieved images: %d', len(responses))
 
 # do something with the images

docs/image_apis.md

@@ -53,7 +53,7 @@ responses = client.simGetImages([
     # uncompressed RGB array bytes
     airsim.ImageRequest(1, airsim.ImageType.Scene, False, False),
     # floating point uncompressed image
-    airsim.ImageRequest(1, airsim.ImageType.DepthPlanner, True)])
+    airsim.ImageRequest(1, airsim.ImageType.DepthPlanar, True)])
 
  # do something with response which contains image data, pose, timestamp etc
 ```
@@ -112,7 +112,7 @@ int getStereoAndDepthImages()
         //uncompressed RGB array bytes
         ImageRequest("1", ImageType::Scene, false, false),       
         //floating point uncompressed image  
-        ImageRequest("1", ImageType::DepthPlanner, true) 
+        ImageRequest("1", ImageType::DepthPlanar, true) 
     };
 
     const std::vector<ImageResponse>& response = client.simGetImages(request);
@@ -203,7 +203,7 @@ To change resolution, FOV etc, you can use [settings.json](settings.md). For exa
 ### Available ImageType Values
 ```cpp
   Scene = 0, 
-  DepthPlanner = 1, 
+  DepthPlanar = 1, 
   DepthPerspective = 2,
   DepthVis = 3, 
   DisparityNormalized = 4,
@@ -212,8 +212,8 @@ To change resolution, FOV etc, you can use [settings.json](settings.md). For exa
   Infrared = 7
 ```                
 
-### DepthPlanner and DepthPerspective
-You normally want to retrieve the depth image as float (i.e. set `pixels_as_float = true`) and specify `ImageType = DepthPlanner` or `ImageType = DepthPerspective` in `ImageRequest`. For `ImageType = DepthPlanner`, you get depth in camera plan, i.e., all points that are in plan parallel to camera have same depth. For `ImageType = DepthPerspective`, you get depth from camera using a projection ray that hits that pixel. Depending on your use case, planner depth or perspective depth may be the ground truth image that you want. For example, you may be able to feed perspective depth to ROS package such as `depth_image_proc` to generate a point cloud. Or planner depth may be more compatible with estimated depth image generated by stereo algorithms such as SGM.
+### DepthPlanar and DepthPerspective
+You normally want to retrieve the depth image as float (i.e. set `pixels_as_float = true`) and specify `ImageType = DepthPlanar` or `ImageType = DepthPerspective` in `ImageRequest`. For `ImageType = DepthPlanar`, you get depth in camera plan, i.e., all points that are in plan parallel to camera have same depth. For `ImageType = DepthPerspective`, you get depth from camera using a projection ray that hits that pixel. Depending on your use case, planner depth or perspective depth may be the ground truth image that you want. For example, you may be able to feed perspective depth to ROS package such as `depth_image_proc` to generate a point cloud. Or planner depth may be more compatible with estimated depth image generated by stereo algorithms such as SGM.
 
 ### DepthVis
 When you specify `ImageType = DepthVis` in `ImageRequest`, you get an image that helps depth visualization. In this case, each pixel value is interpolated from black to white depending on depth in camera plane in meters. The pixels with pure white means depth of 100m or more while pure black means depth of 0 meters.

ros/src/airsim_ros_pkgs/rviz/default.rviz

@@ -156,7 +156,7 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.10000000149011612
       Style: Flat Squares
-      Topic: /airsim_node/front_left_custom/DepthPlanner/registered/points
+      Topic: /airsim_node/front_left_custom/DepthPlanar/registered/points
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true

ros/src/airsim_ros_pkgs/src/airsim_ros_wrapper.cpp

@@ -17,7 +17,7 @@ constexpr char AirsimROSWrapper::DMODEL_YML_NAME[];
 
 const std::unordered_map<int, std::string> AirsimROSWrapper::image_type_int_to_string_map_ = {
     { 0, "Scene" },
-    { 1, "DepthPlanner" },
+    { 1, "DepthPlanar" },
     { 2, "DepthPerspective" },
     { 3, "DepthVis" },
     { 4, "DisparityNormalized" },
@@ -211,7 +211,7 @@ void AirsimROSWrapper::create_ros_pubs_from_settings_json()
                     {
                         current_image_request_vec.push_back(ImageRequest(curr_camera_name, curr_image_type, false, false));
                     }
-                    // if {DepthPlanner, DepthPerspective,DepthVis, DisparityNormalized}, get float image
+                    // if {DepthPlanar, DepthPerspective,DepthVis, DisparityNormalized}, get float image
                     else
                     {
                         current_image_request_vec.push_back(ImageRequest(curr_camera_name, curr_image_type, true));
@@ -1489,7 +1489,7 @@ void AirsimROSWrapper::process_and_publish_img_response(const std::vector<ImageR
         camera_info_msg_vec_[img_response_idx_internal].header.stamp = curr_ros_time;
         cam_info_pub_vec_[img_response_idx_internal].publish(camera_info_msg_vec_[img_response_idx_internal]);
 
-        // DepthPlanner / DepthPerspective / DepthVis / DisparityNormalized
+        // DepthPlanar / DepthPerspective / DepthVis / DisparityNormalized
         if (curr_img_response.pixels_as_float)
         {
             image_pub_vec_[img_response_idx_internal].publish(get_depth_img_msg_from_response(curr_img_response, 

ros/src/airsim_tutorial_pkgs/launch/front_stereo_and_center_mono/default.rviz

@@ -151,7 +151,7 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.100000001
       Style: Flat Squares
-      Topic: /airsim_node/drone_1/front_left_custom/DepthPlanner/registered/points
+      Topic: /airsim_node/drone_1/front_left_custom/DepthPlanar/registered/points
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true

ros/src/airsim_tutorial_pkgs/launch/front_stereo_and_center_mono/depth_to_pointcloud.launch

@@ -10,8 +10,8 @@
 	<!-- Nodelets! -->
 	<!-- Convert it into a point cloud -->
 	<node pkg="nodelet" type="nodelet" name="airsim_depth2cloud" args="load depth_image_proc/point_cloud_xyzrgb depth_to_pointcloud_manager" output="screen">
-		<remap from="depth_registered/image_rect" to="/airsim_node/drone_1/front_left_custom/DepthPlanner"/>
-		<remap from="depth_registered/points" to="/airsim_node/drone_1/front_left_custom/DepthPlanner/registered/points"/>
+		<remap from="depth_registered/image_rect" to="/airsim_node/drone_1/front_left_custom/DepthPlanar"/>
+		<remap from="depth_registered/points" to="/airsim_node/drone_1/front_left_custom/DepthPlanar/registered/points"/>
 		<remap from="rgb/image_rect_color" to="/airsim_node/drone_1/front_left_custom/Scene"/>
 		<remap from="rgb/camera_info" to="/airsim_node/drone_1/front_left_custom/Scene/camera_info"/>
 	</node>

ros/src/airsim_tutorial_pkgs/launch/two_drones_camera_lidar_imu/default.rviz

@@ -146,7 +146,7 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.100000001
       Style: Flat Squares
-      Topic: /airsim_node/front_left_custom/DepthPlanner/registered/points
+      Topic: /airsim_node/front_left_custom/DepthPlanar/registered/points
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true