AirSim

Windows下，AirSim确实比Carla好用。

项目地址：https://github.com/microsoft/AirSim.git

API https://microsoft.github.io/AirSim/api_docs/html/index.html

支持python、c++。

下载已编译好的安装包：Release v1.5.0 - Windows · microsoft/AirSim (github.com)

 解压，启动。

python环境配置参考：Core APIs - AirSim (microsoft.github.io)

仅需安装两个pip包。

pip install msgpack-rpc-python

pip install airsim

import airsim
import cv2
import numpy as np
import os
import time
import tempfile

# connect to the AirSim simulator
client = airsim.CarClient()
client.confirmConnection()
client.enableApiControl(True)
print("API Control enabled: %s" % client.isApiControlEnabled())
car_controls = airsim.CarControls()

tmp_dir = os.path.join(tempfile.gettempdir(), "airsim_car")
print("Saving images to %s" % tmp_dir)
try:
    os.makedirs(tmp_dir)
except OSError:
    if not os.path.isdir(tmp_dir):
        raise

for idx in range(3):
    # get state of the car
    car_state = client.getCarState()
    print("Speed %d, Gear %d" % (car_state.speed, car_state.gear))

    # go forward
    car_controls.throttle = 0.5
    car_controls.steering = 0
    client.setCarControls(car_controls)
    print("Go Forward")
    time.sleep(3)  # let car drive a bit

    # Go forward + steer right
    car_controls.throttle = 0.5
    car_controls.steering = 1
    client.setCarControls(car_controls)
    print("Go Forward, steer right")
    time.sleep(3)  # let car drive a bit

    # go reverse
    car_controls.throttle = -0.5
    car_controls.is_manual_gear = True
    car_controls.manual_gear = -1
    car_controls.steering = 0
    client.setCarControls(car_controls)
    print("Go reverse, steer right")
    time.sleep(3)  # let car drive a bit
    car_controls.is_manual_gear = False  # change back gear to auto
    car_controls.manual_gear = 0

    # apply brakes
    car_controls.brake = 1
    client.setCarControls(car_controls)
    print("Apply brakes")
    time.sleep(3)  # let car drive a bit
    car_controls.brake = 0  # remove brake

    # get camera images from the car
    responses = client.simGetImages([
        airsim.ImageRequest("0", airsim.ImageType.DepthVis),  # depth visualization image
        airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True),  # depth in perspective projection
        airsim.ImageRequest("1", airsim.ImageType.Scene),  # scene vision image in png format
        airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])  # scene vision image in uncompressed RGB array
    print('Retrieved images: %d' % len(responses))

    for response_idx, response in enumerate(responses):
        filename = os.path.join(tmp_dir, f"{idx}_{response.image_type}_{response_idx}")

        if response.pixels_as_float:
            print("Type %d, size %d" % (response.image_type, len(response.image_data_float)))
            airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
        elif response.compress:  # png format
            print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
            airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)
        else:  # uncompressed array
            print("Type %d, size %d" % (response.image_type, len(response.image_data_uint8)))
            img1d = np.frombuffer(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

# restore to original state
client.reset()

client.enableApiControl(False)