DroneDynamic

from tdw.drone.drone_dynamic import DroneDynamic

Dynamic data for a drone that can change per communicate() call (such as the position of the drone).

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Fields

• raycast_hit If True, the ray that was cast down from the drone hit something.

• raycast_point The point that the ray that was cast down from the drone hit. Ignore this if self.raycast_hit == False.

• motor_on If True, the drone's motor is on.

• transform The Transform of the agent.

• images The images rendered by the agent as dictionary. Key = the name of the pass. Value = the pass as a numpy array.

• projection_matrix The camera projection matrix of the agent's camera as a numpy array.

• camera_matrix The camera matrix of the agent's camera as a numpy array.

• got_images If True, we got images from the output data.

• avatar_id The ID of the avatar.

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Functions

__init__

DroneDynamic(resp, drone_id, frame_count)

Parameter	Type	Default	Description
resp	List[bytes]		The response from the build, which we assume contains drone output data.
drone_id	int		The ID of this drone.
frame_count	int		The current frame count.

save_images

self.save_images(output_directory)

Save the ID pass (segmentation colors) and the depth pass to disk. Images will be named: [frame_number]_[pass_name].[extension] For example, the depth pass on the first frame will be named: 00000000_depth.png

The img pass is either a .jpg. The id and depth passes are .png files.

Parameter	Type	Default	Description
output_directory	PATH		The directory that the images will be saved to.

get_pil_image

self.get_pil_image()

self.get_pil_image(pass_mask="img")

Convert raw image data to a PIL image. Use this function to read and analyze an image in memory. Do NOT use this function to save image data to disk; save_image is much faster.

Parameter	Type	Default	Description
pass_mask	str	"img"	The pass mask. Options: "img", "id", "depth".

Returns: A PIL image.