Python 2.7 fixes, fix camera view switching

Author: sytelus

AirLib/include/common/common_utils/Utils.hpp

@@ -640,9 +640,9 @@ class Utils {
 
         std::string bands;
         float fvalue;       // scale factor and temp value to hold pixel value
-        bands = "Pf";   // grayscale
+        bands = "Pf";       // grayscale
 
-                        // sign of scalefact indicates endianness, see pfms specs
+        // sign of scalefact indicates endianness, see pfm specs
         if(isLittleEndian())
             scalef = -scalef;
 

PythonClient/PythonClient.py

@@ -332,23 +332,23 @@ def write_pfm(file, image, scale=1):
         else:
             raise Exception('Image must have H x W x 3, H x W x 1 or H x W dimensions.')
 
-        file.write(bytes('PF\n', 'UTF-8') if color else bytes('Pf\n', 'UTF-8'))
+        file.write('PF\n'.encode('utf-8')  if color else 'Pf\n'.encode('utf-8'))
         temp_str = '%d %d\n' % (image.shape[1], image.shape[0])
-        file.write(bytes(temp_str, 'UTF-8'))
+        file.write(temp_str.encode('utf-8'))
 
         endian = image.dtype.byteorder
 
         if endian == '<' or endian == '=' and sys.byteorder == 'little':
             scale = -scale
 
         temp_str = '%f\n' % scale
-        file.write(bytes(temp_str, 'UTF-8'))
+        file.write(temp_str.encode('utf-8'))
 
         image.tofile(file)
 
 
 # -----------------------------------  Multirotor APIs ---------------------------------------------
-class MultirotorClient(AirSimClientBase):
+class MultirotorClient(AirSimClientBase, object):
     def __init__(self, ip = ""):
         if (ip == ""):
             ip = "127.0.0.1"
@@ -426,7 +426,7 @@ def rotateByYawRate(self, yaw_rate, duration):
         return self.client.call('rotateByYawRate', yaw_rate, duration)
 
 # -----------------------------------  Car APIs ---------------------------------------------
-class CarClient(AirSimClientBase):
+class CarClient(AirSimClientBase, object):
     def __init__(self, ip = ""):
         if (ip == ""):
             ip = "127.0.0.1"

PythonClient/hello_car.py

@@ -29,7 +29,7 @@
     car_controls.throttle = -0.5
     car_controls.is_manual_gear = True;
     car_controls.manual_gear = -1
-    car_controls.steering = -1
+    car_controls.steering = -0.5
     client.setCarControls(car_controls)
     print("Go reverse, steer right")
     time.sleep(3)   # let car drive a bit

Unreal/Plugins/AirSim/Source/CameraDirector.cpp

@@ -51,11 +51,6 @@ void ACameraDirector::initializeForBeginPlay(ECameraDirectorMode view_mode, Vehi
 
     mode_ = view_mode;
     setCameras(external_camera, vehicle_pawn_wrapper);
-
-    camera_start_location_ = this->GetActorLocation();
-    camera_start_rotation_ = this->GetActorRotation();
-    initial_ground_obs_offset_ = camera_start_location_ - follow_actor_->GetActorLocation();
-
 }
 
 void ACameraDirector::setCameras(APIPCamera* external_camera, VehiclePawnWrapper* vehicle_pawn_wrapper)
@@ -64,6 +59,10 @@ void ACameraDirector::setCameras(APIPCamera* external_camera, VehiclePawnWrapper
     fpv_camera_ = vehicle_pawn_wrapper->getCameraCount() > 0 ? vehicle_pawn_wrapper->getCamera() : nullptr;
     follow_actor_ = vehicle_pawn_wrapper->getPawn();
 
+    camera_start_location_ = this->GetActorLocation();
+    camera_start_rotation_ = this->GetActorRotation();
+    initial_ground_obs_offset_ = camera_start_location_ - follow_actor_->GetActorLocation();
+
     manual_pose_controller_->setActor(external_camera_, false);
 
     //set initial view mode
@@ -86,12 +85,12 @@ void ACameraDirector::attachSpringArm(bool attach)
             external_camera_->DetachFromActor(FDetachmentTransformRules::KeepWorldTransform);
             SpringArm->AttachToComponent(follow_actor_->GetRootComponent(), FAttachmentTransformRules::KeepRelativeTransform);
             SpringArm->SetRelativeLocation(FVector(0.0f, 0.0f, 34.0f));
+        }
 
-            external_camera_->AttachToComponent(SpringArm, FAttachmentTransformRules::KeepRelativeTransform);
-            external_camera_->SetActorRelativeLocation(FVector(-225.0, 0.0f, 0.0f));
-            external_camera_->SetActorRelativeRotation(FRotator(10.0f, 0.0f, 0.0f));
-            //external_camera_->bUsePawnControlRotation = false;
-        }
+        external_camera_->AttachToComponent(SpringArm, FAttachmentTransformRules::KeepRelativeTransform);
+        external_camera_->SetActorRelativeLocation(FVector(-225.0, 0.0f, 0.0f));
+        external_camera_->SetActorRelativeRotation(FRotator(10.0f, 0.0f, 0.0f));
+        //external_camera_->bUsePawnControlRotation = false;
     }
     else {
         if (last_parent_ && external_camera_->GetRootComponent()->GetAttachParent() == SpringArm) {
@@ -184,6 +183,10 @@ void ACameraDirector::inputEventFlyWithView()
 {
     setMode(ECameraDirectorMode::CAMERA_DIRECTOR_MODE_FLY_WITH_ME);
     external_camera_->showToScreen();
+
+    if (follow_actor_)
+        external_camera_->SetActorLocationAndRotation(
+            follow_actor_->GetActorLocation() + initial_ground_obs_offset_, camera_start_rotation_);
     if (fpv_camera_)
         fpv_camera_->disableMain();
     ext_obs_fixed_z_ = false;

Unreal/Plugins/AirSim/Source/Car/SimModeCar.cpp

@@ -41,7 +41,7 @@ void ASimModeCar::setupVehiclesAndCamera(std::vector<VehiclePtr>& vehicles)
     APlayerController* player_controller = this->GetWorld()->GetFirstPlayerController();
     FTransform actor_transform = player_controller->GetActorTransform();
     //put camera little bit above vehicle
-    FTransform camera_transform(actor_transform.GetLocation() + FVector(-300, 0, 200));
+    FTransform camera_transform(actor_transform.GetLocation() + FVector(300, 0, 200));
 
     //we will either find external camera if it already exist in evironment or create one
     APIPCamera* external_camera;

docs/apis.md

@@ -84,7 +84,7 @@ int main()
 You can find a ready to run project in HelloCar folder in the repository.
 
 ## Image / Computer Vision and Collision APIs
-AirSim offers comprehensive images APIs to retrieve synchronized images from multiple cameras along with ground truth including depth, disparity, surface normals and vision. You can set the resolution, FOV, motion blur etc parameters in [settings.json](settings.md). There is also API for detecting collision state. See also [complete code](../Examples/StereoImageGenerator.hpp) that generates specified number of stereo images and ground truth depth with normalization to camera plan, computation of disparity image and saving it to pfm format.
+AirSim offers comprehensive images APIs to retrieve synchronized images from multiple cameras along with ground truth including depth, disparity, surface normals and vision. You can set the resolution, FOV, motion blur etc parameters in [settings.json](settings.md). There is also API for detecting collision state. See also [complete code](../Examples/StereoImageGenerator.hpp) that generates specified number of stereo images and ground truth depth with normalization to camera plan, computation of disparity image and saving it to [pfm format](pfm.md).
 
 More on [image APIs and Computer Vision mode](image_apis.md).
 

docs/image_apis.md

@@ -48,7 +48,7 @@ int getStereoAndDepthImages()
 ```
 For a ready to run sample code please see [sample code in HelloDrone project](../HelloDrone/main.cpp) for multirotors or [HelloCar project](../HelloCar/main.cpp). 
 
-See also [complete code](../Examples/StereoImageGenerator.hpp) that generates specified number of stereo images and ground truth depth with normalization to camera plan, computation of disparity image and saving it to pfm format.
+See also [complete code](../Examples/StereoImageGenerator.hpp) that generates specified number of stereo images and ground truth depth with normalization to camera plan, computation of disparity image and saving it to [pfm format](pfm.md).
 
 Unlike `simGetImage`, the `simGetImages` API also allows you to get uncompressed images as well as floating point single channel images (instead of 3 channel (RGB), each 8 bit).
 
@@ -111,4 +111,4 @@ When you specify `ImageType = Segmentation` in `ImageRequest`, you get image tha
 The collision information can be obtained using `getCollisionInfo` API. This call returns a struct that has information not only whether collision occurred but also collision position, surface normal, penetration depth and so on.
 
 ## Example Code
-A complete example of setting vehicle positions at random locations and orientations and then taking images can be found in [GenerateImageGenerator.hpp](../Examples/StereoImageGenerator.hpp). This example generates specified number of stereo images and ground truth disparity image and saving it to pfm format.
+A complete example of setting vehicle positions at random locations and orientations and then taking images can be found in [GenerateImageGenerator.hpp](../Examples/StereoImageGenerator.hpp). This example generates specified number of stereo images and ground truth disparity image and saving it to [pfm format](pfm.md).

docs/pfm.md

@@ -0,0 +1,7 @@
+# pfm Format
+
+Pfm (or Portable FloatMap) image format stores image as floating point pixels and hence are not restricted to usual 0-255 pixel value range. This is useful for HDR images or images that describes something other than colors like depth. 
+
+One of the good viewer to view this file format is [PfmPad](https://sourceforge.net/projects/pfmpad/). We don't recommand Maverick photo viewer because it doesn't seem to show depth images properly.
+
+AirSim has code to write pfm file for [C++](https://github.com/Microsoft/AirSim/blob/master/AirLib/include/common/common_utils/Utils.hpp#L637) and read as well as write for [Python](https://github.com/Microsoft/AirSim/blob/master/PythonClient/PythonClient.py#L273).