replace airsim.write_png with cv2.imwrite

PythonClient/airsim/utils.py

@@ -173,7 +173,7 @@ def write_pfm(file, image, scale=1):
 
     if len(image.shape) == 3 and image.shape[2] == 3: # color image
         color = True
-    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # greyscale
+    elif len(image.shape) == 2 or len(image.shape) == 3 and image.shape[2] == 1: # grayscale
         color = False
     else:
         raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
@@ -203,9 +203,9 @@ def write_png(filename, image):
     height = image.shape[0]
 
     # reverse the vertical line order and add null bytes at the start
-    width_byte_4 = width * 4
-    raw_data = b''.join(b'\x00' + buf[span:span + width_byte_4]
-                        for span in range((height - 1) * width_byte_4, -1, - width_byte_4))
+    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

PythonClient/car/hello_car.py

@@ -1,9 +1,9 @@
-import setup_path 
 import airsim
-
-import time
-import os
+import cv2
 import numpy as np
+import os
+import setup_path 
+import time
 
 # connect to the AirSim simulator 
 client = airsim.CarClient()
@@ -68,10 +68,9 @@
             airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
         else: #uncompressed array
             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
-            airsim.write_png(os.path.normpath(filename + '.png'), img_rgb) #write to png 
-
+            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 
 
 #restore to original state
 client.reset()

PythonClient/car/multi_agent_car.py

@@ -1,9 +1,9 @@
-import setup_path 
 import airsim
-
-import time
-import os
+import cv2
 import numpy as np
+import os
+import setup_path 
+import time
 
 # Use below in settings.json with blocks environment
 """
@@ -109,10 +109,9 @@
             airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
         else: #uncompressed array
             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
-            airsim.write_png(os.path.normpath(filename + '.png'), img_rgb) #write to png 
-
+            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
 
 #restore to original state
 client.reset()

PythonClient/computer_vision/segmentation.py

@@ -1,10 +1,10 @@
 # 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 airsim
-
+import cv2
 import numpy as np
+import setup_path 
 
 client = airsim.VehicleClient()
 client.confirmConnection()
@@ -55,8 +55,7 @@
         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
-        img_rgb = np.flipud(img_rgb) #original image is flipped vertically
-        #airsim.write_png(os.path.normpath(filename + '.numpy.png'), img_rgb) #write to png 
+        # cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png
 
         #find unique colors
         print(np.unique(img_rgb[:,:,0], return_counts=True)) #red

PythonClient/multirotor/hello_drone.py

@@ -5,6 +5,7 @@
 import os
 import tempfile
 import pprint
+import cv2
 
 # connect to the AirSim simulator
 client = airsim.MultirotorClient()
@@ -59,9 +60,9 @@
         airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
     else: #uncompressed array
         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 4 channel image array H X W X 3
-        airsim.write_png(os.path.normpath(filename + '.png'), img_rgb) #write to png
+        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 4 channel image array H X W X 3
+        cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png
 
 airsim.wait_key('Press any key to reset to original state')
 

PythonClient/multirotor/multi_agent_drone.py

@@ -1,10 +1,10 @@
-import setup_path 
 import airsim
-
+import cv2
 import numpy as np
 import os
-import tempfile
 import pprint
+import setup_path 
+import tempfile
 
 # Use below in settings.json with Blocks environment
 """
@@ -88,7 +88,7 @@
         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
-        airsim.write_png(os.path.normpath(filename + '.png'), img_rgb) #write to png
+        cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png
 
 airsim.wait_key('Press any key to reset to original state')