Scene image and Depth image not synchronized?

[ShukuiZhang]

I obtain the scene image and the depth image using python API, with the following code (modified from camera.py):

while True:
    result2 = client.getImageForCamera(0, AirSimImageType.Depth)
    result1 = client.getImageForCamera(0, AirSimImageType.Scene)
    if (result1 == "\0" or result2 == "\0"):
        if (not help):
            help = True
            print("Please press '1' in the AirSim view to enable the Depth camera view")
    else:
        rawImage = np.fromstring(result1, np.int8)
        png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
        
        depthImage = np.fromstring(result2, np.int8)
        depthpng = cv2.imdecode(depthImage, cv2.IMREAD_UNCHANGED)
        
        cv2.imshow("Depth", png)
        cv2.imshow("Raw", depthpng)
        cv2.imwrite(os.path.join(DATA_PATH ,"img_" + str(frameCount) + ".png"), png)
        cv2.imwrite(os.path.join(DATA_PATH, "depth_" + str(frameCount) + ".png"), depthpng)

However, the recorded scene image and the depth image seems not synchronized. As shown in the following:


Is there any solution to reduce the drift besides slowing down the drone? I mean, is there a way to improve synchronization performance by tuning the code? Thanks.

[lovettchris]

Right they are rendered when you ask for them, which means they will not be perfectly synchronized, Sai Vemprala wrote a handy script that captures the images via screen capture so they are in sync. See his post on issue#244.

[ShukuiZhang]

Thanks. I will close this one and switch to that thread.