update py docs and other examples

PythonClient/PythonClient.py

@@ -40,6 +40,12 @@ class Vector3r(MsgpackMixin):
     y_val = np.float32(0)
     z_val = np.float32(0)
 
+    def __init__(self, x_val = np.float32(0), y_val = np.float32(0), z_val = np.float32(0)):
+        self.x_val = x_val
+        self.y_val = y_val
+        self.z_val = z_val
+
+
 class Quaternionr(MsgpackMixin):
     w_val = np.float32(0)
     x_val = np.float32(0)
@@ -232,10 +238,10 @@ def simSetPose(self, position, orientation):
         # https:#en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
         @staticmethod
         def toEulerianAngle(q):
-            z = q[0]
-            y = q[1]
-            x = q[2]
-            w = q[3]
+            z = q.z_val
+            y = q.y_val
+            x = q.x_val
+            w = q.w_val
             ysqr = y * y
 
             # roll (x-axis rotation)
@@ -260,18 +266,18 @@ def toEulerianAngle(q):
 
         @staticmethod
         def toQuaternion(pitch, roll, yaw):
-            q = [0, 0, 0, 0]
             t0 = math.cos(yaw * 0.5)
             t1 = math.sin(yaw * 0.5)
             t2 = math.cos(roll * 0.5)
             t3 = math.sin(roll * 0.5)
             t4 = math.cos(pitch * 0.5)
             t5 = math.sin(pitch * 0.5)
 
-            q[3] = t0 * t2 * t4 + t1 * t3 * t5 #w
-            q[2] = t0 * t3 * t4 - t1 * t2 * t5 #x
-            q[1] = t0 * t2 * t5 + t1 * t3 * t4 #y
-            q[0] = t1 * t2 * t4 - t0 * t3 * t5 #z
+            q = Quaternionr()
+            q.w_val = t0 * t2 * t4 + t1 * t3 * t5 #w
+            q.x_val = t0 * t3 * t4 - t1 * t2 * t5 #x
+            q.y_val = t0 * t2 * t5 + t1 * t3 * t4 #y
+            q.z_val = t1 * t2 * t4 - t0 * t3 * t5 #z
             return q
 
         @staticmethod

PythonClient/PythonClient.pyproj

@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>navigate.py</StartupFile>
+    <StartupFile>hello_drone.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>
@@ -28,9 +28,6 @@
     <Compile Include="camera.py">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="generate_stereo_data.py">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="hello_drone.py">
       <SubType>Code</SubType>
     </Compile>
@@ -42,9 +39,6 @@
     </Compile>
     <Compile Include="pfm.py" />
     <Compile Include="PythonClient.py" />
-    <Compile Include="takeoff.py">
-      <SubType>Code</SubType>
-    </Compile>
   </ItemGroup>
   <PropertyGroup>
     <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>

PythonClient/camera.py

@@ -1,6 +1,8 @@
 # use open cv to show new images from AirSim 
 
 from PythonClient import *
+# requires Python 3.5.3 :: Anaconda 4.4.0
+# pip install opencv-python
 import cv2
 import time
 import sys
@@ -29,6 +31,9 @@ def printUsage():
 print (cameraTypeMap[cameraType])
 
 client = AirSimClient('127.0.0.1')
+client.confirmConnection()
+client.enableApiControl(True)
+client.armDisarm(True)
 
 help = False
 
@@ -49,7 +54,7 @@ def printUsage():
         print("Camera is not returning image, please check airsim for error messages")
         sys.exit(0)
     else:
-        png = cv2.imdecode(rawImage, cv2.IMREAD_UNCHANGED)
+        png = cv2.imdecode(AirSimClient.stringToUint8Array(rawImage), cv2.IMREAD_UNCHANGED)
         cv2.putText(png,'FPS ' + str(fps),textOrg, fontFace, fontScale,(255,0,255),thickness)
         cv2.imshow("Depth", png)
 

PythonClient/hello_drone.py

@@ -9,6 +9,9 @@
 AirSimClient.wait_key('Press any key to takeoff')
 client.takeoff()
 
+AirSimClient.wait_key('Press any key to move vehicle to (-10, 10, -10) at 5 m/s')
+client.moveToPosition(-10, 10, -10, 5)
+
 AirSimClient.wait_key('Press any key to take images')
 responses = client.simGetImages([
     ImageRequest(0, AirSimImageType.DepthVis), 

PythonClient/navigate.py

@@ -1,18 +1,21 @@
 # use open cv to show new images from AirSim 
 
 from PythonClient import *
+# requires Python 3.5.3 :: Anaconda 4.4.0
+# pip install opencv-python
 import cv2
 import time
 import math
 import sys
 
 client = AirSimClient('127.0.0.1')
+client.confirmConnection()
+client.enableApiControl(True)
+client.armDisarm(True)
 
 # you must first press "1" in the AirSim view to turn on the depth capture
 
 # get depth image
-client.setImageTypeForCamera(0, AirSimImageType.Depth)
-time.sleep(1) # give it time to render
 yaw = 0
 pi = 3.14159265483
 vx = 0
@@ -22,7 +25,7 @@
 
 while True:
     # this will return png width= 256, height= 144
-    result = client.simGetImage(0, AirSimImageType.Depth)
+    result = client.simGetImage(0, AirSimImageType.DepthVis)
     if (result == "\0"):
         if (not help):
             help = True
@@ -81,7 +84,7 @@
             vy = math.sin(yaw);
 
         print ("distance=", current)
-        client.moveByVelocityZ(vx, vy,-6, 1, DrivetrainType.ForwardOnly, YawMode(False, 0)).get()
+        client.moveByVelocityZ(vx, vy,-6, 1, DrivetrainType.ForwardOnly, YawMode(False, 0))
 
         x = int(driving * 50)
         cv2.rectangle(png, (x,0), (x+50,50), (0,255,0), 2)

PythonClient/path.py

@@ -3,6 +3,9 @@
 import time
 
 client = AirSimClient('127.0.0.1')
+client.confirmConnection()
+client.enableApiControl(True)
+client.armDisarm(True)
 
 # AirSim uses NED coordinates so negative axis is up.
 # z of -5 is 5 meters above the original launch point.
@@ -12,4 +15,6 @@
 
 # this method is async and we are not waiting for the result since we are passing max_wait_seconds=0.
 print("client.moveOnPath to fly fast path along the streets")
-result = client.moveOnPath([(0,-253,z),(125,-253,z),(125,0,z),(0,0,z)], 15, 0, DrivetrainType.ForwardOnly, YawMode(False,0), 20, 1)
+result = client.moveOnPath([Vector3r(0,-253,z),Vector3r(125,-253,z),Vector3r(125,0,z),Vector3r(0,0,z)], 
+                           15, 60, 
+                           DrivetrainType.ForwardOnly, YawMode(False,0), 20, 1)