Fix DepthPlanar capture

[saihv]

Fixes: #3776
Fixes: #3716
Fixes: #3648

About

Fixes an issue with PIPCamera where it was missing the reference to the Depth Planar material. Earlier, requesting a DepthPlanar issue would return a grayscale/RGB image instead of depth.

How Has This Been Tested?

import airsim
import cv2
import numpy as np

c = airsim.MultirotorClient()

c.confirmConnection()

responses = c.simGetImages([airsim.ImageRequest("1", airsim.ImageType.DepthPlanar, True)])
response = responses[0]
img1d = response.image_data_float
img2d = np.reshape(img1d,(response.height, response.width)) 
cv2.imshow("Depth viz", img2d)
cv2.waitKey(0)

[zimmy87]

Hi @saihv, which version of the unreal engine are you using to save the .uasset in this PR? In UE 4.25.4, I'm getting load failures when launching the Blocks environment:

---

Message

Default Property warnings and errors:
Error: CDO Constructor (CarPawn): Failed to find /AirSim/Blueprints/BP_PIPCamera.BP_PIPCamera_C

Error: CDO Constructor (ComputerVisionPawn): Failed to find /AirSim/Blueprints/BP_PIPCamera.BP_PIPCamera_C

Error: CDO Constructor (SimModeBase): Failed to find /AirSim/Blueprints/BP_PIPCamera.BP_PIPCamera_C

Error: CDO Constructor (SimModeBase): Failed to find /AirSim/Blueprints/BP_PIPCamera.BP_PIPCamera_C

The BP_PIPCamera.uasset file doesn't appear in the content browser, and launching the environment results in an unhandled exception and crash. Would you be able to re-save your changes in UE 4.25 to ensure compatibility with the currently supported version of Unreal?

[rajat2004]

I can't see the output but shouldn't this 4.25 incompatibility have been caught by the Azure Pipelines? It uses 4.25.1 based on the ci.yaml file

[saihv]

@zimmy87 I've replaced the asset with a 4.25-saved one, could you try now?

[madratman]

@saihv seems like you pushed Unreal/Environments/Blocks/Content/FlyingCPP/Maps/FlyingExampleMap.umap by mistake instead of /Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset

[saihv]

Whoops, fixed!

[zimmy87]

Thanks for the submission @saihv! Tested locally and it works for me.