Merge pull request #17 from ScaledFoundations/thermal_image

add thermal image capture example notebook

Author: pranay-ar

airgen-samples/notebook.ipynb

@@ -0,0 +1,112 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "3a638623",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Connected!\n",
+      "Client Ver:1 (Min Req: 1), Server Ver:1 (Min Req: 1)\n",
+      "\n"
+     ]
+    }
+   ],
+   "source": [
+    "from grid.robot.airgen_drone import AirGenDrone\n",
+    "airgen_drone_0 = AirGenDrone()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "de35f3bc",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "airgen_drone_0.client.takeoffAsync().join()\n",
+    "airgen_drone_0.client.moveToZAsync(-25, 2).join()\n",
+    "airgen_drone_0.client.rotateToYawAsync(-90).join()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "0baa40c4",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Let's capture and display an infrared image\n",
+    "import airgen\n",
+    "import rerun as rr\n",
+    "\n",
+    "ir_image, camera_pose = airgen_drone_0.client.getImages(\"front_center\", [airgen.ImageType.Infrared])[0]\n",
+    "\n",
+    "rr.log(\"infrared\", rr.Image(ir_image))\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "f9db538a",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "['Fire_Grd_BP_00_0']\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 1,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "# Let's now make the fire the highest intensity in the infrared camera\n",
+    "\n",
+    "# Get a list of all objects in the scene with the name Fire*\n",
+    "fire_obj_refs = airgen_drone_0.client.simListSceneObjects(\"Fire.*\")\n",
+    "print(fire_obj_refs)\n",
+    "\n",
+    "fire_obj = fire_obj_refs[0]\n",
+    "\n",
+    "airgen_drone_0.client.simSetSegmentationObjectID(fire_obj, 255, True)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "9049bc5e",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Capture and display an infrared image again\n",
+    "import airgen\n",
+    "import rerun as rr\n",
+    "\n",
+    "ir_image, camera_pose = airgen_drone_0.client.getImages(\"front_center\", [airgen.ImageType.Infrared])[0]\n",
+    "\n",
+    "rr.log(\"infrared_new\", rr.Image(ir_image))\n"
+   ]
+  }
+ ],
+ "metadata": {
+  "language_info": {
+   "name": "python"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}