一、通过settings.json配置“subwindows”字段去显示

{

(资料图片)

"SettingsVersion": 1.2,

"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/master/docs/settings.md",

"SimMode": "Multirotor",

"ViewMode": "FlyWithMe",

"SubWindows": [

{

"WindowID": 0,

"CameraName": "front_center_custom",

"ImageType": 0,

"Visible": true,

"ImageSize": [480, 270],

"CameraPosition": [0.0, 0.0, -2.5],

"CameraRotation": [0.0, 0.0, 0.0]

},

{

"WindowID": 1,

"CameraName": "front_center_custom",

"ImageType": 3,

"Visible": true,

"ImageSize": [480, 270],

"CameraPosition": [0.0, 0.0, -2.5],

"CameraRotation": [0.0, 0.0, 0.0]

},

{

"WindowID": 2,

"CameraName": "front_center_custom",

"ImageType": 5,

"Visible": true,

"ImageSize": [480, 270],

"CameraPosition": [0.0, 0.0, -2.5],

"CameraRotation": [0.0, 0.0, 0.0]

}

],

"Vehicles": {

"Drone": {

"VehicleType": "SimpleFlight",

"DisplayName": "My First Drone",

"AutoCreate": true

}

}

}

自己修改时注意窗口索引的正确性。

二、利用pygame绘制窗口并获取无人机FPV实时图像呈现

import sysimport timeimport airsimimport pygameimport CV2import numpy as np# >------>>>  pygame settings   <<<------< #pygame.init()screen = pygame.display.set_mode((800, 144))pygame.display.set_caption('screen')screen.fill((0, 0, 0))# >------>>>  AirSim settings   <<<------< ## 这里改为你要控制的无人机名称(settings文件里面设置的)vehicle_name = "Drone"AirSim_client = airsim.MultirotorClient()AirSim_client.confirmConnection()AirSim_client.enableApiControl(True, vehicle_name=vehicle_name)AirSim_client.armDisarm(True, vehicle_name=vehicle_name)AirSim_client.takeoffAsync(vehicle_name=vehicle_name).join()image_types = {    "scene": airsim.ImageType.Scene,    "depth": airsim.ImageType.DepthVis,    "seg": airsim.ImageType.Segmentation,    "normals": airsim.ImageType.SurfaceNormals,    "segmentation": airsim.ImageType.Segmentation,    "disparity": airsim.ImageType.DisparityNormalized,    "Infrared": airsim.ImageType.Infrared}# 基础的控制速度(m/s)vehicle_velocity = 2.0# 设置临时加速比例speedup_ratio = 10.0# 用来设置临时加速speedup_flag = False# 基础的偏航速率vehicle_yaw_rate = 5.0while True:    yaw_rate = 0.0    velocity_x = 0.0    velocity_y = 0.0    velocity_z = 0.0    time.sleep(0.02)    for event in pygame.event.get():        if event.type == pygame.QUIT:            sys.exit()    scan_wrapper = pygame.key.get_pressed()    # 按下空格键加速10倍    if scan_wrapper[pygame.K_SPACE]:        scale_ratio = speedup_ratio    else:        scale_ratio = speedup_ratio / speedup_ratio    # 根据 'A' 和 'D' 按键来设置偏航速率变量    if scan_wrapper[pygame.K_a] or scan_wrapper[pygame.K_d]:        yaw_rate = (scan_wrapper[pygame.K_d] - scan_wrapper[pygame.K_a]) * scale_ratio * vehicle_yaw_rate    # 根据 'UP' 和 'DOWN' 按键来设置pitch轴速度变量(NED坐标系，x为机头向前)    if scan_wrapper[pygame.K_UP] or scan_wrapper[pygame.K_DOWN]:        velocity_x = (scan_wrapper[pygame.K_UP] - scan_wrapper[pygame.K_DOWN]) * scale_ratio    # 根据 'LEFT' 和 'RIGHT' 按键来设置roll轴速度变量(NED坐标系，y为正右方)    if scan_wrapper[pygame.K_LEFT] or scan_wrapper[pygame.K_RIGHT]:        velocity_y = -(scan_wrapper[pygame.K_LEFT] - scan_wrapper[pygame.K_RIGHT]) * scale_ratio    # 根据 'W' 和 'S' 按键来设置z轴速度变量(NED坐标系，z轴向上为负)    if scan_wrapper[pygame.K_w] or scan_wrapper[pygame.K_s]:        velocity_z = -(scan_wrapper[pygame.K_w] - scan_wrapper[pygame.K_s]) * scale_ratio    # print(f": Expectation gesture: {velocity_x}, {velocity_y}, {velocity_z}, {yaw_rate}")    # 设置速度控制以及设置偏航控制    AirSim_client.moveByVelocityBodyFrameAsync(vx=velocity_x, vy=velocity_y, vz=velocity_z, duration=1,                                               yaw_mode=airsim.YawMode(True, yaw_or_rate=yaw_rate), vehicle_name=vehicle_name)    temp_image1 = AirSim_client.simGetImage('0', image_types["scene"], vehicle_name=vehicle_name)    image1 = CV2.imdecode(airsim.string_to_uint8_array(temp_image1), CV2.IMREAD_COLOR)    CV2.imwrite('screen/visual1.png', image1)    # 利用pygame库加载保存的第一视角图像，    screen_image1 = pygame.image.load("screen/visual1.png")    # 图像坐标系，左上角为(0, 0)，在此放置图片    screen.blit(screen_image1, (0, 0))    pygame.display.flip()    pygame.display.update()    temp_image2 = AirSim_client.simGetImage('0', image_types["Infrared"], vehicle_name=vehicle_name)    image2 = CV2.imdecode(airsim.string_to_uint8_array(temp_image2), CV2.IMREAD_COLOR)    CV2.imwrite('screen/visual2.png', image2)    # 利用pygame库加载保存的第一视角图像，    screen_image2 = pygame.image.load("screen/visual2.png")    # 图像坐标系，左上角为(0, 0)，在此放置图片    screen.blit(screen_image2, (272, 0))    pygame.display.flip()    pygame.display.update()    temp_image3 = AirSim_client.simGetImage('0', image_types["segmentation"], vehicle_name=vehicle_name)    image3 = CV2.imdecode(airsim.string_to_uint8_array(temp_image3), CV2.IMREAD_COLOR)    CV2.imwrite('screen/visual3.png', image3)    # 利用pygame库加载保存的第一视角图像，    screen_image3 = pygame.image.load("screen/visual3.png")    # 图像坐标系，左上角为(0, 0)，在此放置图片    screen.blit(screen_image3, (544, 0))    pygame.display.flip()    pygame.display.update()    if scan_wrapper[pygame.K_ESCAPE]:        pygame.quit()        sys.exit()