Fix Python API example files (#2683)

* [Pythonclient] Fix hello_car.py print, temp folder for images, cleanup

* [Pythonclient/car] Delete legacy_hello_car.py

* [Pythonclient/types] Add utility functions to check for NaN in Pose

* [PythonClient/cv] Fix cv_mode.py

* [Unity] Don't send Alpha channel in image

Maintain consistency with Unreal

* [Pythonclient/utils] Use cv2 to write images

PythonClient/airsim/types.py

@@ -1,6 +1,7 @@
 from __future__ import print_function
 import msgpackrpc #install as admin: pip install msgpack-rpc-python
 import numpy as np #pip install numpy
+import math
 
 class MsgpackMixin:
     def __repr__(self):
@@ -62,6 +63,9 @@ def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0):
     def nanVector3r():
         return Vector3r(np.nan, np.nan, np.nan)
 
+    def containsNan(self):
+        return (math.isnan(self.x_val) or math.isnan(self.y_val) or math.isnan(self.z_val))
+
     def __add__(self, other):
         return Vector3r(self.x_val + other.x_val, self.y_val + other.y_val, self.z_val + other.z_val)
 
@@ -122,6 +126,9 @@ def __init__(self, x_val = 0.0, y_val = 0.0, z_val = 0.0, w_val = 1.0):
     def nanQuaternionr():
         return Quaternionr(np.nan, np.nan, np.nan, np.nan)
 
+    def containsNan(self):
+        return (math.isnan(self.w_val) or math.isnan(self.x_val) or math.isnan(self.y_val) or math.isnan(self.z_val))
+
     def __add__(self, other):
         if type(self) == type(other):
             return Quaternionr( self.x_val+other.x_val, self.y_val+other.y_val, self.z_val+other.z_val, self.w_val+other.w_val )
@@ -207,6 +214,9 @@ def __init__(self, position_val = None, orientation_val = None):
     def nanPose():
         return Pose(Vector3r.nanVector3r(), Quaternionr.nanQuaternionr())
 
+    def containsNan(self):
+        return (self.position.containsNan() or self.orientation.containsNan())
+
 
 class CollisionInfo(MsgpackMixin):
     has_collided = False

PythonClient/airsim/utils.py

@@ -6,6 +6,8 @@
 import inspect
 import types
 import re
+import cv2      # pip install opencv-python
+import logging
 
 from .types import *
 
@@ -41,6 +43,10 @@ def to_str(obj):
 
 
 def write_file(filename, bstr):
+    """
+    Write binary data to file.
+    Used for writing compressed PNG images
+    """
     with open(filename, 'wb') as afile:
         afile.write(bstr)
 
@@ -196,27 +202,6 @@ def write_pfm(file, image, scale=1):
 def write_png(filename, image):
     """ image must be numpy array H X W X channels
     """
-    import zlib, struct
-
-    buf = image.flatten().tobytes()
-    width = image.shape[1]
-    height = image.shape[0]
-
-    # reverse the vertical line order and add null bytes at the start
-    width_byte_3 = width * 3
-    raw_data = b''.join(b'\x00' + buf[span:span + width_byte_3]
-                        for span in range((height - 1) * width_byte_3, -1, - width_byte_3))
-
-    def png_pack(png_tag, data):
-        chunk_head = png_tag + data
-        return (struct.pack("!I", len(data)) +
-                chunk_head +
-                struct.pack("!I", 0xFFFFFFFF & zlib.crc32(chunk_head)))
-
-    png_bytes = b''.join([
-        b'\x89PNG\r\n\x1a\n',
-        png_pack(b'IHDR', struct.pack("!2I5B", width, height, 8, 6, 0, 0, 0)),
-        png_pack(b'IDAT', zlib.compress(raw_data, 9)),
-        png_pack(b'IEND', b'')])
-
-    write_file(filename, png_bytes)
+    ret = cv2.imwrite(filename, image)
+    if not ret:
+        logging.error(f"Writing PNG file {filename} failed")

PythonClient/car/hello_car.py

@@ -1,16 +1,26 @@
+import setup_path
 import airsim
 import cv2
 import numpy as np
 import os
-import setup_path 
 import time
+import tempfile
 
-# connect to the AirSim simulator 
+# connect to the AirSim simulator
 client = airsim.CarClient()
 client.confirmConnection()
 client.enableApiControl(True)
+print("API Control enabled: %s" % client.isApiControlEnabled())
 car_controls = airsim.CarControls()
 
+tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_car")
+print ("Saving images to %s" % tmp_dir)
+try:
+    os.makedirs(tmp_dir)
+except OSError:
+    if not os.path.isdir(tmp_dir):
+        raise
+
 for idx in range(3):
     # get state of the car
     car_state = client.getCarState()
@@ -32,34 +42,33 @@
 
     # go reverse
     car_controls.throttle = -0.5
-    car_controls.is_manual_gear = True;
+    car_controls.is_manual_gear = True
     car_controls.manual_gear = -1
     car_controls.steering = 0
     client.setCarControls(car_controls)
     print("Go reverse, steer right")
     time.sleep(3)   # let car drive a bit
-    car_controls.is_manual_gear = False; # change back gear to auto
-    car_controls.manual_gear = 0  
+    car_controls.is_manual_gear = False # change back gear to auto
+    car_controls.manual_gear = 0
 
     # apply brakes
     car_controls.brake = 1
     client.setCarControls(car_controls)
     print("Apply brakes")
     time.sleep(3)   # let car drive a bit
     car_controls.brake = 0 #remove brake
-    
+
     # get camera images from the car
     responses = client.simGetImages([
         airsim.ImageRequest("0", airsim.ImageType.DepthVis),  #depth visualization image
         airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True), #depth in perspective projection
         airsim.ImageRequest("1", airsim.ImageType.Scene), #scene vision image in png format
         airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])  #scene vision image in uncompressed RGB array
-    print('Retrieved images: %d', len(responses))
+    print('Retrieved images: %d' % len(responses))
+
+    for response_idx, response in enumerate(responses):
+        filename = os.path.join(tmp_dir, f"{idx}_{response.image_type}_{response_idx}")
 
-    for response in responses:
-        filename = 'c:/temp/py' + str(idx)
-        if not os.path.exists('c:/temp/'):
-            os.makedirs('c:/temp/')
         if response.pixels_as_float:
             print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
             airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
@@ -70,12 +79,9 @@
             print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
             img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8) # get numpy array
             img_rgb = img1d.reshape(response.height, response.width, 3) # reshape array to 3 channel image array H X W X 3
-            cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png 
+            cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png
 
 #restore to original state
 client.reset()
 
 client.enableApiControl(False)
-
-
-

PythonClient/computer_vision/cv_mode.py

@@ -1,26 +1,37 @@
-# In settings.json first activate computer vision mode: 
+# In settings.json first activate computer vision mode:
 # https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
 
-import setup_path 
+import setup_path
 import airsim
 
 import pprint
 import os
 import time
+import math
+import tempfile
 
 pp = pprint.PrettyPrinter(indent=4)
 
 client = airsim.VehicleClient()
 client.confirmConnection()
 
 airsim.wait_key('Press any key to set camera-0 gimbal to 15-degree pitch')
-camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(0.261799, 0, 0)) #radians
+camera_pose = airsim.Pose(airsim.Vector3r(0, 0, 0), airsim.to_quaternion(math.radians(15), 0, 0)) #radians
 client.simSetCameraPose("0", camera_pose)
 
 airsim.wait_key('Press any key to get camera parameters')
 for camera_name in range(5):
     camera_info = client.simGetCameraInfo(str(camera_name))
-    print("CameraInfo %d: %s" % (camera_name, pp.pprint(camera_info)))
+    print("CameraInfo %d:" % camera_name)
+    pp.pprint(camera_info)
+
+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
 
 airsim.wait_key('Press any key to get images')
 for x in range(3): # do few times
@@ -36,12 +47,13 @@
         airsim.ImageRequest("4", airsim.ImageType.SurfaceNormals)])
 
     for i, response in enumerate(responses):
+        filename = os.path.join(tmp_dir, str(x) + "_" + str(i))
         if response.pixels_as_float:
             print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
-            airsim.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), airsim.get_pfm_array(response))
+            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
         else:
             print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
-            airsim.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)
+            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
 
     pose = client.simGetVehiclePose()
     pp.pprint(pose)

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

@@ -150,7 +150,7 @@ private List<byte> GetFrameData(ImageType type, bool isCompress) {
                     frameData.Add(c.r);
                     frameData.Add(c.g);
                     frameData.Add(c.b);
-                    frameData.Add(c.a);
+                    // frameData.Add(c.a);     // Unreal is just sending RGB images, so don't include Alpha channel here
                 }
             }
             RenderTexture.active = null;