camera.py

# use open cv to show new images from AirSim 

from PythonClient import *
import cv2
import time
import sys

client = AirSimClient('127.0.0.1')

help = False

fontFace = cv2.FONT_HERSHEY_SIMPLEX
fontScale = 0.5
thickness = 2
textSize, baseline = cv2.getTextSize("FPS", fontFace, fontScale, thickness)
print (textSize)
textOrg = (10, 10 + textSize[1])
frameCount = 0
startTime=time.clock()
fps = 0

while True:
    # because this method returns std::vector<uint8>, msgpack decides to encode it as a string unfortunately.
    result = client.getImageForCamera(0, AirSimImageType.Depth)
    if (result == "\0"):
        if (not help):
            help = True
            print("Please press '1' in the AirSim view to enable the Depth camera view")
    else:
        rawImage = np.fromstring(result, np.int8)
        png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
        
        cv2.putText(png,'FPS ' + str(fps),textOrg, fontFace, fontScale,(255,0,255),thickness)
        cv2.imshow("Depth", png)

    frameCount  = frameCount  + 1
    endTime=time.clock()
    diff = endTime - startTime
    if (diff > 1):
        fps = frameCount
        frameCount = 0
        startTime = endTime
    
    key = cv2.waitKey(1) & 0xFF;
    if (key == 27 or key == ord('q') or key == ord('x')):
        break;