How to output depth information to SITL?

[BrellenZhou]

Hi,

I want to output airsim's depth information to Ardupilot in SITL to achieve obstacle avoidance target. Ardupilot/PX4 has already have the computer-vision based obstacle avoidance algorithm. So I want to know how to output the depth to SITL to achieve this target. I cannot find the code part where the airsim output the depth/image info to the port.

I am very confusing. Could you please give some instructions? Thank you.

[rajat2004]

You can use the Image APIs to fetch the depth images, and then generate obstacle information in a format which ArduPilot, PX4 can receive, such as OBSTACLE_DISTANCE, or whichever other messages or capabilities are supported