From b5a2487c47a468aa418ba1652c987f47d17d410d Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Sun, 26 Jul 2020 22:44:13 +0530
Subject: [PATCH 1/2] Disable cameras after fetching images, projection matrix

---
 Unreal/Plugins/AirSim/Source/PIPCamera.cpp        | 15 ++++++++-------
 .../Plugins/AirSim/Source/UnrealImageCapture.cpp  |  4 ++++
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
index 735298788c..b87ad3749a 100644
--- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
+++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -86,6 +86,8 @@ void APIPCamera::BeginPlay()
 
 msr::airlib::ProjectionMatrix APIPCamera::getProjectionMatrix(const APIPCamera::ImageType image_type) const
 {
+    msr::airlib::ProjectionMatrix mat;
+
     //TODO: avoid the need to override const cast here
     const_cast<APIPCamera*>(this)->setCameraTypeEnabled(image_type, true);
     const USceneCaptureComponent2D* capture = const_cast<APIPCamera*>(this)->getCaptureComponent(image_type, false);
@@ -161,18 +163,17 @@ msr::airlib::ProjectionMatrix APIPCamera::getProjectionMatrix(const APIPCamera::
         FMatrix projMatTransposeInAirSim = coordinateChangeTranspose * proj_mat_transpose;
 
         //Copy the result to an airlib::ProjectionMatrix while taking transpose.
-        msr::airlib::ProjectionMatrix mat;
         for (auto row = 0; row < 4; ++row)
             for (auto col = 0; col < 4; ++col)
                 mat.matrix[col][row] = projMatTransposeInAirSim.M[row][col];
-
-        return mat;
     }
-    else {
-        msr::airlib::ProjectionMatrix mat;
+    else
         mat.setTo(Utils::nan<float>());
-        return mat;
-    }
+
+    // Disable camera after our work is done
+    const_cast<APIPCamera*>(this)->setCameraTypeEnabled(image_type, false);
+
+    return mat;
 }
 
 void APIPCamera::Tick(float DeltaTime)
diff --git a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
index da28a1795f..6b034f81df 100644
--- a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
+++ b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
@@ -112,6 +112,10 @@ void UnrealImageCapture::getSceneCaptureImage(const std::vector<msr::airlib::Ima
         response.width = render_results[i]->width;
         response.height = render_results[i]->height;
         response.image_type = request.image_type;
+
+        // Disable camera after fetching images
+        APIPCamera* camera = cameras_->at(request.camera_name);
+        camera->setCameraTypeEnabled(request.image_type, false);
     }
 
 }

From e4626ae1a1389bbc8f53985d85ad42c54aa5097f Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Sun, 26 Jul 2020 23:22:55 +0530
Subject: [PATCH 2/2] [Pythonclient] Add example script for testing high
 resolution camera

---
 PythonClient/multirotor/high_res_camera.py | 61 ++++++++++++++++++++++
 1 file changed, 61 insertions(+)
 create mode 100644 PythonClient/multirotor/high_res_camera.py

diff --git a/PythonClient/multirotor/high_res_camera.py b/PythonClient/multirotor/high_res_camera.py
new file mode 100644
index 0000000000..151383f444
--- /dev/null
+++ b/PythonClient/multirotor/high_res_camera.py
@@ -0,0 +1,61 @@
+import airsim
+from datetime import datetime
+
+'''
+Simple script with settings to create a high-resolution camera, and fetching it
+
+Settings used-
+{
+    "SettingsVersion": 1.2,
+    "SimMode": "Multirotor",
+    "Vehicles" : {
+        "Drone1" : {
+            "VehicleType" : "SimpleFlight",
+            "AutoCreate" : true,
+            "Cameras" : {
+                "high_res": {
+                    "CaptureSettings" : [
+                        {
+                            "ImageType" : 0,
+                            "Width" : 4320,
+                            "Height" : 2160
+                        }
+                    ],
+                    "X": 0.50, "Y": 0.00, "Z": 0.10,
+                    "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
+                },
+                "low_res": {
+                    "CaptureSettings" : [
+                        {
+                            "ImageType" : 0,
+                            "Width" : 256,
+                            "Height" : 144
+                        }
+                    ],
+                    "X": 0.50, "Y": 0.00, "Z": 0.10,
+                    "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
+                }
+            }
+        }
+    }
+}
+'''
+
+client = airsim.VehicleClient()
+client.confirmConnection()
+framecounter = 1
+
+prevtimestamp = datetime.now()
+
+while(framecounter <= 500):
+    if framecounter%150 == 0:
+        client.simGetImages([airsim.ImageRequest("high_res", airsim.ImageType.Scene, False, False)])
+        print("High resolution image captured.")
+
+    if framecounter%30 == 0:
+        now = datetime.now()
+        print(f"Time spent for 30 frames: {now-prevtimestamp}")
+        prevtimestamp = now
+
+    client.simGetImages([airsim.ImageRequest("low_res", airsim.ImageType.Scene, False, False)])
+    framecounter += 1