added constructor for Quaternionr for PythonClient, cv_mode.py exampl…

…e, docs update

PythonClient/PythonClient.py

@@ -52,6 +52,13 @@ class Quaternionr(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), w_val = np.float32(0)):
+        self.x_val = x_val
+        self.y_val = y_val
+        self.z_val = z_val
+        self.w_val = w_val
+
+
 class CollisionInfo(MsgpackMixin):
     has_collided = False
     normal = Vector3r()

PythonClient/PythonClient.pyproj

@@ -5,7 +5,7 @@
     <SchemaVersion>2.0</SchemaVersion>
     <ProjectGuid>e2049e20-b6dd-474e-8bca-1c8dc54725aa</ProjectGuid>
     <ProjectHome>.</ProjectHome>
-    <StartupFile>hello_drone.py</StartupFile>
+    <StartupFile>cv_mode.py</StartupFile>
     <SearchPath>
     </SearchPath>
     <WorkingDirectory>.</WorkingDirectory>
@@ -28,6 +28,9 @@
     <Compile Include="camera.py">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="cv_mode.py">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="hello_drone.py">
       <SubType>Code</SubType>
     </Compile>

PythonClient/cv_mode.py

@@ -0,0 +1,28 @@
+# In settings.json first activate computer vision mode: 
+# https://github.com/Microsoft/AirSim/blob/master/docs/image_apis.md#computer-vision-mode
+
+from PythonClient import *
+
+client = AirSimClient()
+client.confirmConnection()
+
+for x in range(3): # do 5 times
+    z = x * -20 - 5
+    # you can also use AirSimClient.toQuaternion(0, 0, x) to generate quaternion
+    client.simSetPose(Vector3r(1, 1, z), Quaternionr(0, 0, 0, 1))
+
+    responses = client.simGetImages([
+        ImageRequest(0, AirSimImageType.DepthVis),
+        ImageRequest(1, AirSimImageType.DepthMeters, True),
+        ImageRequest(0, AirSimImageType.Segmentation),
+        ImageRequest(0, AirSimImageType.Scene),
+        ImageRequest(0, AirSimImageType.DisparityNormalized),
+        ImageRequest(0, AirSimImageType.SurfaceNormals)])
+
+    for i, response in enumerate(responses):
+        if response.pixels_as_float:
+            print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
+            AirSimClient.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), AirSimClient.getPfmArray(response))
+        else:
+            print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
+            AirSimClient.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)

docs/build_linux.md

@@ -12,6 +12,8 @@ It's super simple 1-2-3!
      # go to folder where you clone GitHub projects
      git clone -b 4.17 https://github.com/EpicGames/UnrealEngine.git
      cd UnrealEngine
+     # few times Epic folks broke the build so we will get commit that works
+     git checkout af96417313a908b20621a443175ba91683c238c8
      ./Setup.sh
      ./GenerateProjectFiles.sh
      make

docs/image_apis.md

@@ -64,6 +64,8 @@ To active this mode, edit [settings.json](settings.json) that you can find in yo
 }
 ```
 
+[Here's the Python code example](https://github.com/Microsoft/AirSim/blob/master/PythonClient/cv_mode.py) to move camera around and capture images.
+
 If you are only interested in this mode, you might also want to take a look at [UnrealCV project](http://unrealcv.org/).
 
 ## How to Set Position and Orientation (Pose)?

docs/unreal_blocks.md

@@ -11,7 +11,7 @@ Here are quick steps to get Blocks environment up and running:
 2. Navigate to folder `AirSim\Unreal\Environments\Blocks` and run `update_from_git.bat`.
 3. Double click on generated .sln file to open in Visual Studio 2015 Update 3 or newer.
 4. Make sure `Blocks` project is the startup project, build configuration is set to `DebugGame` and `Win64`. Hit F5 to run.
-5. Press the Play button in Unreal Editor and you will see something like in below video. Also see [how to use AirSim](../#how-to-use-it).
+5. Press the Play button in Unreal Editor and you will see something like in below video. Also see [how to use AirSim](https://github.com/Microsoft/AirSim/#how-to-use-it).
 
 ### Changing Code and Rebuilding
 For Windows, you can just change the code in Visual Studio, press F5 and re-run. There are few batch files available in folder `AirSim\Unreal\Environments\Blocks` that lets you sync code, clean etc.