Merge pull request #3938 from saihv/PR/OpticalFlow

Optical flow camera

Author: zimmy87

AirLib/include/common/ImageCaptureBase.hpp

@@ -26,6 +26,8 @@ namespace airlib
             Segmentation,
             SurfaceNormals,
             Infrared,
+            OpticalFlow,
+            OpticalFlowVis,
             Count //must be last
         };
 

PythonClient/airsim/types.py

@@ -37,6 +37,10 @@ def SurfaceNormals(cls):
         return 6
     def Infrared(cls):
         return 7
+    def OpticalFlow(cls):
+        return 8
+    def OpticalFlowVis(cls):
+        return 9
 
     def __getattr__(self, key):
         if key == 'DepthPlanner':
@@ -52,6 +56,8 @@ class ImageType(metaclass=_ImageType):
     Segmentation = 5
     SurfaceNormals = 6
     Infrared = 7
+    OpticalFlow = 8
+    OpticalFlowVis = 9
 
 class DrivetrainType:
     MaxDegreeOfFreedom = 0

Unreal/Plugins/AirSim/Content/Blueprints/BP_PIPCamera.uasset

@@ -41,6 +41,8 @@ APIPCamera::APIPCamera()
     image_type_to_pixel_format_map_.Add(5, EPixelFormat::PF_B8G8R8A8);
     image_type_to_pixel_format_map_.Add(6, EPixelFormat::PF_B8G8R8A8);
     image_type_to_pixel_format_map_.Add(7, EPixelFormat::PF_B8G8R8A8);
+    image_type_to_pixel_format_map_.Add(8, EPixelFormat::PF_B8G8R8A8);
+    image_type_to_pixel_format_map_.Add(9, EPixelFormat::PF_B8G8R8A8);
 
     object_filter_ = FObjectFilter();
 }
@@ -70,6 +72,10 @@ void APIPCamera::PostInitializeComponents()
         UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("InfraredCaptureComponent"));
     captures_[Utils::toNumeric(ImageType::SurfaceNormals)] =
         UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("NormalsCaptureComponent"));
+    captures_[Utils::toNumeric(ImageType::OpticalFlow)] =
+        UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("OpticalFlowCaptureComponent"));
+    captures_[Utils::toNumeric(ImageType::OpticalFlowVis)] =
+        UAirBlueprintLib::GetActorComponent<USceneCaptureComponent2D>(this, TEXT("OpticalFlowVisCaptureComponent"));
 
     for (unsigned int i = 0; i < imageTypeCount(); ++i) {
         detections_[i] = NewObject<UDetectionComponent>(this);