供一下airsim 拍摄图像以及获取拍摄定位的代码
时间: 2023-07-15 20:15:33 浏览: 131
以下是使用 AirSim 拍摄图像并获取拍摄定位的 Python 代码:
```python
import airsim
import cv2
import os
import numpy as np
# connect to the AirSim simulator
client = airsim.MultirotorClient()
client.confirmConnection()
client.enableApiControl(True)
client.armDisarm(True)
# set camera parameters
camera_name = "0"
camera_pos = airsim.Vector3r(0.0, 0.0, 0.0)
camera_dir = airsim.Vector3r(0.0, 0.0, 0.0)
fov = airsim.to_quaternion(0.0, 0.0, 0.0)
camera_info = client.simGetCameraInfo(camera_name)
# set image path
image_dir = "./images/"
if not os.path.exists(image_dir):
os.makedirs(image_dir)
# take images
for i in range(10):
# set camera pose
client.simSetCameraPose(camera_name, airsim.Pose(camera_pos, fov))
client.simSetCameraOrientation(camera_name, airsim.to_quaternion(camera_dir.x_val, camera_dir.y_val, camera_dir.z_val))
# take image
responses = client.simGetImages([airsim.ImageRequest(camera_name, airsim.ImageType.Scene)])
response = responses[0]
img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8)
img_rgb = img1d.reshape(response.height, response.width, 3)
# save image
filename = "image" + str(i) + ".png"
cv2.imwrite(os.path.join(image_dir, filename), img_rgb)
# get camera position and orientation
pose = client.simGetVehiclePose()
pos = pose.position
ori = airsim.to_eularian_angles(pose.orientation)
print("Image", i, "taken at:", pos.x_val, pos.y_val, pos.z_val, "with orientation:", ori.x_val, ori.y_val, ori.z_val)
# disarm the drone and close the connection
client.armDisarm(False)
client.enableApiControl(False)
```
在这个例子中,我们首先连接到 AirSim 仿真器,然后设置相机参数并拍摄图像。我们将图像保存到指定的目录中,并在控制台输出每张图像的拍摄位置和方向。
注意:在运行此代码之前,请确保已经启动了 AirSim 仿真器,并且已经加载了适当的场景和无人机模型。