How to save compressed images

[collinabidi]

I'm attempting to record both RGB and Depth images at the same time using two cameras. However, when I run the modified baseline_race.py script, saving the images uncompressed seems to be too much for my computer to handle.

When I try to save the compressed images, I get the error:

ValueError: cannot reshape array of size 122900 into shape (240, 320, 3)

I'm wondering how to get the dimensions of the compressed image so I can properly save it.

Additionally, help with efficiently saving both RGB and Depth images from two cameras would be greatly appreciated.

[madratman]

Hey @collinabidi
How about using cv2.imwrite?
baseline_racer.py is already reshaping it for you in the image_callback function:

    import time

    def image_callback(self):
        # get uncompressed fpv cam image
        request = [airsim.ImageRequest("fpv_cam", airsim.ImageType.Scene, False, False)]
        response = self.airsim_client_images.simGetImages(request)
        img_rgb_1d = np.fromstring(response[0].image_data_uint8, dtype=np.uint8) 
        img_rgb = img_rgb_1d.reshape(response[0].height, response[0].width, 3)
        # for saving, you can do :
        cv2.imwrite(time.strftime("%Y%m%d-%H%M%S") + ".png", img_rgb)

[madratman]

Can you share your python snippet as well?
122900 seems wrong.

[collinabidi]

request = [airsim.ImageRequest('depth_cam', 3, False, True)]
response = self.airsim_client_images.simGetImages(request)
img_1d = np.fromstring(response[1].image_data_uint8, dtype=np.uint8)
img_depth = img_1d.reshape(response[1].height, response[1].width, 3)
cv2.imwrite(self.output_dir + '/depth_ims/' + str(self.drone_name) + '_' + str("{0:.3f}".format(round(time.time(),3))) + '.png', img_depth)

The only modification I've made is changing the compress parameter to True

[yannbouteiller]

Depht images? I thought we were only allowed to get rgb images from the front camera?

[madratman]

I think he might be generating a dataset, afai can tell.