AirSim Image data processing in Simulink

Hi,

I’m trying to do an autonomous landing exercise using Airsim and Simulink (connected via a ROS network). I have set up the environment and have managed to get image data to MATLAB using a script. However, when I do this in MATLAB, I do get an image with colours inverted. (orange goes to blue etc which is not an issue for me right now). When I try to do it in Simulink using ROS subscriber, Read Image and Video Viewer blocks the image turns out to be black. I’m looking at an image of 240H x 320W and the image topic does give out 240x320x3=230400 to match the RGB image. When I took the data directly from the subscriber block in Simulink only 128 data points are given. I need to convert the image given by Airsim to a HxWx3 array so it can be processed by my target detecting algorithm. Has anyone come across this issue? Or is there a better way to do it? Please help

This is the Python API used to get the image:

import setup_path

import airsim

import rospy

# ROS Image message

from sensor_msgs.msg import Image

def airpub():

pub = rospy.Publisher("airsim/image_raw", Image, queue_size=1)

rospy.init_node('image_raw', anonymous=True)

rate = rospy.Rate(10) # 10hz

# connect to the AirSim simulator

client = airsim.MultirotorClient()

client.confirmConnection()

while not rospy.is_shutdown()

responses = client.simGetImages([

airsim.ImageRequest("0", airsim.ImageType.Scene,False,False)]) #scene vision image in uncompressed RGB array

response = responses[0]

for response in responses:

img_rgb_string = response.image_data_uint8

# Populate image message

msg=Image()

msg.header.stamp = rospy.Time.now()

msg.header.frame_id = "frameId"

msg.encoding = "rgb8"

msg.height = 240 # resolution should match values in settings.json

msg.width = 320

msg.data = img_rgb_string

msg.is_bigendian = 0

msg.step = msg.width * 1

# log time and size of published image

rospy.loginfo(len(response.image_data_uint8))

# publish image message

pub.publish(msg)

# sleep until next cycle

rate.sleep()

if __name__ == '__main__':

try:

airpub()

except rospy.ROSInterruptException:

pass

[Akash K]

Try using reshape(H, W, 3, 'uint8') function foe a 3 channel RGB array