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| Original file line number | Diff line number | Diff line change |
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| from .utils import * | ||
| from .types import * | ||
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| __version__ = "1.5.0" | ||
| __version__ = "1.6.0" | ||
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| Original file line number | Diff line number | Diff line change |
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| import setup_path | ||
| import airsim | ||
| from argparse import ArgumentParser | ||
| import time | ||
| import threading | ||
| import numpy as np | ||
| import cv2 | ||
| import tempfile | ||
| import os | ||
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| cameraTypeMap = { | ||
| "depth": airsim.ImageType.DepthVis, | ||
| "segmentation": airsim.ImageType.Segmentation, | ||
| "seg": airsim.ImageType.Segmentation, | ||
| "scene": airsim.ImageType.Scene, | ||
| "disparity": airsim.ImageType.DisparityNormalized, | ||
| "normals": airsim.ImageType.SurfaceNormals | ||
| } | ||
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| CAM_NAME = "front_center" | ||
| DEBUG = False | ||
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| def saveImage(response, filename): | ||
| if response.pixels_as_float: | ||
| # airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response)) | ||
| depth = np.array(response.image_data_float, dtype=np.float64) | ||
| depth = depth.reshape((response.height, response.width, -1)) | ||
| depth = np.array(depth * 255, dtype=np.uint8) | ||
| # save pic | ||
| cv2.imwrite(os.path.normpath(filename + '.png'), depth) | ||
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| elif response.compress: #png format | ||
| airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8) | ||
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| else: #uncompressed array | ||
| img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8) # get numpy array | ||
| img_rgb = img1d.reshape(response.height, response.width, 3) # reshape array to 3 channel image array H X W X 3 | ||
| cv2.imwrite(os.path.normpath(filename + '.png'), img_rgb) # write to png | ||
|
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||
| class ImageBenchmarker(): | ||
| def __init__(self, | ||
| img_benchmark_type = 'simGetImages', | ||
| viz_image_cv2 = False, | ||
| save_images = False, | ||
| img_type = "scene"): | ||
| self.airsim_client = airsim.VehicleClient() | ||
| self.airsim_client.confirmConnection() | ||
| self.image_benchmark_num_images = 0 | ||
| self.image_benchmark_total_time = 0.0 | ||
| self.avg_fps = 0.0 | ||
| self.image_callback_thread = None | ||
| self.viz_image_cv2 = viz_image_cv2 | ||
| self.save_images = save_images | ||
|
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| self.img_type = cameraTypeMap[img_type] | ||
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| if img_benchmark_type == "simGetImage": | ||
| self.image_callback_thread = threading.Thread(target=self.repeat_timer_img, args=(self.image_callback_benchmark_simGetImage, 0.001)) | ||
| if img_benchmark_type == "simGetImages": | ||
| self.image_callback_thread = threading.Thread(target=self.repeat_timer_img, args=(self.image_callback_benchmark_simGetImages, 0.001)) | ||
| self.is_image_thread_active = False | ||
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| if self.save_images: | ||
| self.tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_img_bm") | ||
| print(f"Saving images to {self.tmp_dir}") | ||
| try: | ||
| os.makedirs(self.tmp_dir) | ||
| except OSError: | ||
| if not os.path.isdir(self.tmp_dir): | ||
| raise | ||
|
|
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| def start_img_benchmark_thread(self): | ||
| if not self.is_image_thread_active: | ||
| self.is_image_thread_active = True | ||
| self.benchmark_start_time = time.time() | ||
| self.image_callback_thread.start() | ||
| print("Started img image_callback thread") | ||
|
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| def stop_img_benchmark_thread(self): | ||
| if self.is_image_thread_active: | ||
| self.is_image_thread_active = False | ||
| self.image_callback_thread.join() | ||
| print("Stopped image callback thread.") | ||
| print(f"FPS: {self.avg_fps} for {self.image_benchmark_num_images} images") | ||
|
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| def repeat_timer_img(self, task, period): | ||
| while self.is_image_thread_active: | ||
| task() | ||
| time.sleep(period) | ||
|
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| def update_benchmark_results(self): | ||
| self.image_benchmark_total_time = time.time() - self.benchmark_start_time | ||
| self.avg_fps = self.image_benchmark_num_images / self.image_benchmark_total_time | ||
| if self.image_benchmark_num_images % 10 == 0: | ||
| print(f"Result: {self.avg_fps} avg_fps for {self.image_benchmark_num_images} images") | ||
|
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| def image_callback_benchmark_simGetImage(self): | ||
| self.image_benchmark_num_images += 1 | ||
| image = self.airsim_client.simGetImage(CAM_NAME, self.img_type) | ||
| np_arr = np.frombuffer(image, dtype=np.uint8) | ||
| # Change the below dimensions appropriately for the camera settings | ||
| img_rgb = np_arr.reshape(240, 512, 4) | ||
|
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| self.update_benchmark_results() | ||
|
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| if self.viz_image_cv2: | ||
| cv2.imshow("img_rgb", img_rgb) | ||
| cv2.waitKey(1) | ||
|
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| def image_callback_benchmark_simGetImages(self): | ||
| self.image_benchmark_num_images += 1 | ||
| request = [airsim.ImageRequest(CAM_NAME, self.img_type, False, False)] | ||
| responses = self.airsim_client.simGetImages(request) | ||
| response = responses[0] | ||
|
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| self.update_benchmark_results() | ||
|
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| if DEBUG: | ||
| if response.pixels_as_float: | ||
| print(f"Type {response.image_type}, size {len(response.image_data_float)}," | ||
| f"height {response.height}, width {response.width}") | ||
| else: | ||
| print(f"Type {response.image_type}, size {len(response.image_data_uint8)}," | ||
| f"height {response.height}, width {response.width}") | ||
|
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| if self.viz_image_cv2: | ||
| np_arr = np.frombuffer(response.image_data_uint8, dtype=np.uint8) | ||
| img = np_arr.reshape(response.height, response.width, -1) | ||
| cv2.imshow("img", img) | ||
| cv2.waitKey(1) | ||
|
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||
| if self.save_images: | ||
| filename = os.path.join(self.tmp_dir, str(self.image_benchmark_num_images)) | ||
| saveImage(response, filename) | ||
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| def main(args): | ||
| image_benchmarker = ImageBenchmarker(img_benchmark_type=args.img_benchmark_type, viz_image_cv2=args.viz_image_cv2, | ||
| save_images=args.save_images, img_type=args.img_type) | ||
|
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| image_benchmarker.start_img_benchmark_thread() | ||
| time.sleep(args.time) | ||
| image_benchmarker.stop_img_benchmark_thread() | ||
|
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| if __name__ == "__main__": | ||
| parser = ArgumentParser() | ||
| parser.add_argument('--img_benchmark_type', type=str, choices=["simGetImage", "simGetImages"], default="simGetImages") | ||
| parser.add_argument('--enable_viz_image_cv2', dest='viz_image_cv2', action='store_true', default=False) | ||
| parser.add_argument('--save_images', dest='save_images', action='store_true', default=False) | ||
| parser.add_argument('--img_type', type=str, choices=cameraTypeMap.keys(), default="scene") | ||
| parser.add_argument('--time', help="Time in secs to run the benchmark for", type=int, default=30) | ||
|
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| args = parser.parse_args() | ||
| main(args) |
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