anyone meets problem in function “ client.simGetCameraInfo”?

[dellhuyongcai]

I want to set the camera parameters by function "simGetDistortionParams(self, camera_name, vehicle_name = '', external = False)" ,but the function returns the error in the following.
msgpackrpc.error.RPCError: rpclib: client error C0002: Function 'simGetCameraInfo' was called with an invalid number of arguments. Expected: 3, got: 2
anyone meets this error?looking forward to your good replay.thanks a lot!

[alonfaraj]

Hi @dellhuyongcai,

You said that you want to set the param but you are using get function - simGetDistortionParams.
Can you share your code?

[dellhuyongcai]

sorry,the problem is the function “ client.simGetCameraInfo"has errors,the following is my code:

import setup_path
import airsim
import os
import tempfile

"""
A simple script to test all the camera APIs. Change the camera name and whether it's an external camera

Example Settings for external camera -

{
"SettingsVersion": 1.2,
"SimMode": "Car",
"ExternalCameras": {
"fixed1": {
"X": 0, "Y": 0, "Z": -5,
"Pitch": -90, "Roll": 0, "Yaw": 0
}
}
}
"""

Just change the below to test different cameras easily!

CAM_NAME = "fixed1"
IS_EXTERNAL_CAM = True

client = airsim.VehicleClient()
client.confirmConnection()

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

print(f"Camera: {CAM_NAME}, External = {IS_EXTERNAL_CAM}")

Test Camera info

cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
print(cam_info)

Test Image APIs

airsim.wait_key('Press any key to get images')

requests = [airsim.ImageRequest(CAM_NAME, airsim.ImageType.Scene),
airsim.ImageRequest(CAM_NAME, airsim.ImageType.DepthPlanar),
airsim.ImageRequest(CAM_NAME, airsim.ImageType.DepthVis),
airsim.ImageRequest(CAM_NAME, airsim.ImageType.Segmentation),
airsim.ImageRequest(CAM_NAME, airsim.ImageType.SurfaceNormals)]

def save_images(responses, prefix=""):
for i, response in enumerate(responses):
filename = os.path.join(tmp_dir, prefix + "_" + str(i))

    if response.pixels_as_float:
        print(f"Type {response.image_type}, size {len(response.image_data_float)}, pos {response.camera_position}")
        airsim.write_pfm(os.path.normpath(filename + '.pfm'), airsim.get_pfm_array(response))
    else:
        print(f"Type {response.image_type}, size {len(response.image_data_uint8)}, pos {response.camera_position}")
        airsim.write_file(os.path.normpath(filename + '.png'), response.image_data_uint8)

responses = client.simGetImages(requests, external=IS_EXTERNAL_CAM)
save_images(responses, "old_fov")

Test FoV API

airsim.wait_key('Press any key to change FoV and get images')

client.simSetCameraFov(CAM_NAME, 120, external=IS_EXTERNAL_CAM)

responses = client.simGetImages(requests, external=IS_EXTERNAL_CAM)
save_images(responses, "new_fov")

new_cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Old FOV: {cam_info.fov}, New FOV: {new_cam_info.fov}")

Test Pose APIs

new_pose = airsim.Pose(airsim.Vector3r(-10, -5, -5), airsim.to_quaternion(0.1, 0, 0.1))
client.simSetCameraPose(CAM_NAME, new_pose, external=IS_EXTERNAL_CAM)

responses = client.simGetImages(requests, external=IS_EXTERNAL_CAM)
save_images(responses, "new_pose")

new_cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Old Pose: {cam_info.pose}, New Pose: {new_cam_info.pose}")

Test Distortion params APIs

dist_params = client.simGetDistortionParams(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Distortion Params: {dist_params}")

new_params_dict = {"K1": 0.1, "K2": 0.01, "K3": 0.0, "P1": 0.0, "P2": 0.0}
print(f"Setting distortion params as {new_params_dict}")
client.simSetDistortionParams(CAM_NAME, new_params_dict, external=IS_EXTERNAL_CAM)

dist_params = client.simGetDistortionParams(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Updated Distortion Params: {dist_params}")

the errors happens at "cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)",error information is "msgpackrpc.error.RPCError: rpclib: client error C0002: Function 'simGetCameraInfo' was called with an invalid number of arguments. Expected: 3, got: 2",the version of airsim is v1.6.0 that downloaded from the offical website.

[alonfaraj]

I think you are trying to call simGetDistortionParams for non-exist camera.
Can you share your settings.json as well?

Anyway, if you want to get info for a built-in camera, you can use something like the code below, and change CAM_NAME for other cameras.

import setup_path
import airsim
import os

CAM_NAME = "0"
IS_EXTERNAL_CAM = False

client = airsim.VehicleClient()
client.confirmConnection()

cam_info = client.simGetCameraInfo(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Camera Info: {cam_info}")

dist_params = client.simGetDistortionParams(CAM_NAME, external=IS_EXTERNAL_CAM)
print(f"Distortion Params: {dist_params}")

[sandilyasg]

@alonfaraj @dellhuyongcai does this work with Unity? I am trying this but simGetCameraInfo and simGetDistortionParams crashes