AirSim and MATLAB integration using python problem

[hashikemu]

Hi, I'm Japanese student. and, i'm new to airsim,github,python, and matlab.
I want to use airsim for visual odometry. so, I made this matlab script.

clear

%%addpath windows起動ごとにリセットされるっぽいのでここでチェックして、必要に応じて加える
if count(py.sys.path,'C:\Users\hashimoto\git\AirSim\PythonClient') == 0
    insert(py.sys.path,int32(0),'C:\Users\hashimoto\git\AirSim\PythonClient');
end


%%connect to the AirSim simulator 
client=py.AirSimClient.CarClient; %クライアントの宣言
client.confirmConnection();
client.enableApiControl(true); %接続とAPIの有効化
car_controls = py.AirSimClient.CarControls; %コントローラーの宣言


%%車両状態の取得と表示
car_state = client.getCarState();
state = car_state.kinematics_true.orientation.x_val

%%車両状態の指定
car_controls.throttle = 0.15
car_controls.steering = 1.0
client.setCarControls(car_controls)

%%画像の取得 badcastが出て止まる
response = client.simGetImages(py.list({    py.AirSimClient.ImageRequest(0, 0, false, false),    py.AirSimClient.ImageRequest(1, 0, false, false)    }))

client.reset()
client.enableApiControl(false)

this script uses matlab's python call function. this script requires follow this page's task. https://github.com/Microsoft/AirSim/blob/master/docs/python.md

but, in simGetImages function, exception error occurred. this is error message.

エラー: future>get (line 45)
Python エラー: RPCError: rpclib: function 'simGetImages' (called with 1 arg(s)) threw an exception. The
exception contained this information: bad cast.

エラー: session>call (line 41)
        return self.send_request(method, args).get()

エラー: AirSimClient>simGetImages (line 262)
        responses_raw = self.client.call('simGetImages', requests)

I can't determine whether "bad cast" error is by matlab or by msgpack.
so, can anyone give me advice?

[hashikemu]

Hello. About the above problem. I solved my self by writing the following program. I hope it will be helpful for linking MATLAB and Airsim. thanks.

%% 初期化
%初期化
clc
clear

%パス追加 windows起動ごとにリセットされるっぽいのでここでチェックして、必要に応じて加える
if count(py.sys.path,'C:\Users\hashimoto\git\AirSim\PythonClient') == 0
    insert(py.sys.path,int32(0),'C:\Users\hashimoto\git\AirSim\PythonClient');
end

%画像配列の確保
img_h=288;
img_w=512;
img_px=img_h*img_w;
resimg=zeros(img_w,img_h,3,'uint8'); %y*xのサイズになるらしい
resimg2=zeros(img_h,img_w,3,'uint8'); %転置先の配列

%figureの確保
f_vel=figure;
hold on;
f_xy=figure;
hold on;
f_cam=figure;

%キー入力受付用figure
%hf=figure('position',[0 0 eps eps],'menubar','none');


%% 接続
%connect to the AirSim simulator
client=py.AirSimClient.CarClient; %クライアントの宣言
client.confirmConnection();
client.enableApiControl(true); %接続とAPIの有効化
car_controls = py.AirSimClient.CarControls; %コントローラーの宣言



%% 制御ループ
client.simPause(logical(true))
while(1)
%状態更新
client.simContinueForTime(0.01) %10ms間隔で更新

%車両状態の取得と表示
car_state = client.getCarState();
state_t=car_state.timestamp;
state_vel = car_state.speed;
state_xp = car_state.kinematics_true.position.x_val;
state_yp = car_state.kinematics_true.position.y_val;
state_zp = car_state.kinematics_true.position.z_val;


%カラー画像の取得
response = cell(client.simGetImages(py.list({    py.AirSimClient.ImageRequest(int8(0), int8(0), logical(false), logical(false))    })));
imgdata=uint8(response{1,1}.image_data_uint8);
u=1;
for t = 1:img_h*img_w
    resimg(t)=          imgdata(u);
    resimg(t+img_px)=   imgdata(u+1);
    resimg(t+img_px*2)= imgdata(u+2);
    u=u+4;
end
resimg2=permute(resimg,[2 1 3]);


%車両状態の指定
car_controls.throttle = 0.30;
car_controls.steering = 1.0;

%入力の適用
client.setCarControls(car_controls);

%グラフ表示
figure(f_xy);
plot (state_xp,-state_yp,'o-');
daspect([1 1 1]);
figure(f_vel);
plot (state_t,state_vel,'o-');
figure(f_cam);
image(resimg2)
daspect([1 1 1]);

%pause(0.0001) %py.time.sleep(20)


end

client.simPause(logical(false))




%% 終了
client.reset()
client.enableApiControl(false)