AirSim|AirSim 自动驾驶仿真 (7) - AirSim 多载具 AirSim|自动驾驶

AirSim 自动驾驶仿真 (7) - AirSim 多载具从 release 1.2 开始, AirSim 完全能够支持多载具. 这能允许你更简单的创建多个载具并用 APIs 来控制它们.
创建多个载具 Creating Multiple Vehicles 在 settings.json 可以很简单地对它们设定. Vehicles 元素允许你指定你想创建地载具列表, 包括初始位置和方向.位置是基于 SI 单位下的原点位于 Unreal 环境下玩家出生点的 NED 坐标系.方向基于角度制的偏航、俯仰和翻转.
创建多辆汽车 Creating Multiple Cars

{ "SettingsVersion": 1.2, "SimMode": "Car","Vehicles": { "Car1": { "VehicleType": "PhysXCar", "X": 4, "Y": 0, "Z": -2 }, "Car2": { "VehicleType": "PhysXCar", "X": -4, "Y": 0, "Z": -2, "Yaw": 90 } } }

创建多个飞行器 Creating Multiple Drones

{ "SettingsVersion": 1.2, "SimMode": "Multirotor","Vehicles": { "Drone1": { "VehicleType": "SimpleFlight", "X": 4, "Y": 0, "Z": -2, "Yaw": -180 }, "Drone2": { "VehicleType": "SimpleFlight", "X": 8, "Y": 0, "Z": -2 } } }

多载具的 APIs 使用 Using APIs for Multiple Vehicles 【AirSim|AirSim 自动驾驶仿真 (7) - AirSim 多载具】从 AirSim 1.2 以来的新 APIs 允许你指定 vehicle_name. 这个名称和 json settings 的键值对应 (举个例子, 上述的 Car1 或 Drone2 ).
Example code for cars
Example code for multirotors
PS: 这里提供一份 C++ 的实现

using namespace msr::airlib; msr::airlib::CarRpcLibClient client; client.confirmConnection(); client.enableApiControl(true, "Car1"); client.enableApiControl(true, "Car2"); auto car_controls1 = client.getCarControls("Car1"); auto car_controls2 = client.getCarControls("Car2"); for (int i = 0; i < 3; ++i) { // get state of the car auto car_state1 = client.getCarState("Car1"); std::cout << "Car1: Speed " << car_state1.speed << ", Gear " << car_state1.gear << std::endl; auto car_state2 = client.getCarState("Car2"); std::cout << "Car1: Speed " << car_state2.speed << ", Gear " << car_state2.gear << std::endl; // go forward car_controls1.throttle = 0.5; car_controls2.throttle = 0.5; client.setCarControls(car_controls1, "Car1"); std::cout << "Car1: Go Forward.\n"; car_controls2.throttle = 0.5; car_controls2.steering = -0.5; client.setCarControls(car_controls2, "Car2"); std::cout << "Car2: Go Forward.\n"; std::this_thread::sleep_for(std::chrono::seconds(3)); // apply breaks car_controls1.brake = 1; client.setCarControls(car_controls1, "Car1"); std::cout << "Car1: Apply break\n"; car_controls1.brake = 0; // remove breakcar_controls2.brake = 1; client.setCarControls(car_controls2, "Car2"); std::cout << "Car2: Apply break\n"; car_controls2.brake = 0; // remove breakstd::this_thread::sleep_for(std::chrono::seconds(3)); // let car drive a bitconst std::vector& response1 = client.simGetImages({ImageCaptureBase::ImageRequest("0", ImageCaptureBase::ImageType::DepthVis), ImageCaptureBase::ImageRequest("1", ImageCaptureBase::ImageType::Scene, false, false)}, "Car1"); std::cout << "Car1: Retrieved images: " << response1.size() << std::endl; const std::vector& response2 = client.simGetImages({ImageCaptureBase::ImageRequest("0", ImageCaptureBase::ImageType::Segmentation), ImageCaptureBase::ImageRequest("1", ImageCaptureBase::ImageType::Scene, false, false)}, "Car2"); std::cout << "Car2: Retrieved images: " << response2.size() << std::endl; cv::Mat img_mat10 = cv::imdecode(response1.at(0).image_data_uint8, cv::IMREAD_GRAYSCALE); cv::imshow("cat1_multi:DepthVis", img_mat10); cv::waitKey(5); cv::Mat img_mat11(response1.at(1).height, response1.at(1).width, CV_8UC3, (void*)response1.at(1).image_data_uint8.data()); cv::imshow("cat1_multi:Scene", img_mat11); cv::waitKey(5); cv::Mat img_mat20 = cv::imdecode(response1.at(0).image_data_uint8, cv::IMREAD_UNCHANGED); cv::imshow("cat2_multi:DepthVis", img_mat10); cv::waitKey(5); cv::Mat img_mat21(response2.at(1).height, response2.at(1).width, CV_8UC3, (void*)response2.at(1).image_data_uint8.data()); cv::imshow("cat2_multi:Scene", img_mat21); cv::waitKey(5); }client.reset(); client.enableApiControl(false); return 0;

Demo
[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-LPyhIgMh-1592320500937)(images/demo_multi_vehicles.png)]