How to use the airsim.ImageType function in airsim

def getScreenGrey(self):
        responses = self.client.simGetImages([airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)])
        response = responses[0]
        img1d = np.fromstring(response.image_data_uint8, dtype=np.uint8)
        if((responses[0].width !=0 or responses[0].height!=0)):
            img_rgba = img1d.reshape(response.height, response.width, 4)
            rgb = cv2.cvtColor(img_rgba, cv2.COLOR_BGRA2BGR)
            grey = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
        else:
            print("Something bad happened! Restting AirSim!")
            self.AirSim_reset()
            grey = np.ones(144,256)
        return grey

s = pprint.pformat(state1)
print("state: %s" % s)
state2 = client.getMultirotorState(vehicle_name="Drone2")
s = pprint.pformat(state2)
print("state: %s" % s)

airsim.wait_key('Press any key to move vehicles')
f1 = client.moveToPositionAsync(-5, 5, -10, 5, vehicle_name="Drone1")
f2 = client.moveToPositionAsync(5, -5, -10, 5, vehicle_name="Drone2")
f1.join()
f2.join()

airsim.wait_key('Press any key to take images')
# get camera images from the car
responses1 = client.simGetImages([
    airsim.ImageRequest("0", airsim.ImageType.DepthVis),  #depth visualization image
    airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)], vehicle_name="Drone1")  #scene vision image in uncompressed RGBA array
print('Drone1: Retrieved images: %d' % len(responses1))
responses2 = client.simGetImages([
    airsim.ImageRequest("0", airsim.ImageType.DepthVis),  #depth visualization image
    airsim.ImageRequest("1", airsim.ImageType.Scene, False, False)], vehicle_name="Drone2")  #scene vision image in uncompressed RGBA array
print('Drone2: Retrieved images: %d' % len(responses2))

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

for idx, response in enumerate(responses1 + responses2):

airsim.wait_key('Press any key to set camera-0 gimble to 15-degree pitch')
client.simSetCameraOrientation("0", airsim.to_quaternion(0.261799, 0, 0)); #radians

airsim.wait_key('Press any key to get camera parameters')
for camera_name in range(5):
    camera_info = client.simGetCameraInfo(str(camera_name))
    print("CameraInfo %d: %s" % (camera_name, pp.pprint(camera_info)))

airsim.wait_key('Press any key to get images')
for x in range(3): # do few times
    z = x * -20 - 5 # some random number
    client.simSetVehiclePose(airsim.Pose(airsim.Vector3r(z, z, z), airsim.to_quaternion(x / 3.0, 0, x / 3.0)), True)

    responses = client.simGetImages([
        airsim.ImageRequest("0", airsim.ImageType.DepthVis),
        airsim.ImageRequest("1", airsim.ImageType.DepthPerspective, True),
        airsim.ImageRequest("2", airsim.ImageType.Segmentation),
        airsim.ImageRequest("3", airsim.ImageType.Scene),
        airsim.ImageRequest("4", airsim.ImageType.DisparityNormalized),
        airsim.ImageRequest("4", airsim.ImageType.SurfaceNormals)])

    for i, response in enumerate(responses):
        if response.pixels_as_float:
            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
            airsim.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), airsim.get_pfm_array(response))
        else:
            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
            airsim.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)

    pose = client.simGetVehiclePose()
    pp.pprint(pose)

airsim.wait_key('Press any key to set multiple presets')
presets = {"Phoneme_l":0.5, "Phoneme_ae": 1, "Phoneme_ooo":0.0}
client.simCharSetFacePresets(presets)

airsim.wait_key('Press any key to turn head around')
client.reset()
for pitch in range(-5, 5, 5):
    for yaw in range(-10, 10, 2):
        q = airsim.to_quaternion(pitch/10.0, 0, yaw/10.0)
        client.simCharSetHeadRotation(q)
        time.sleep(0.1)

airsim.wait_key('Press any key to get images')
for x in range(3): # do few times
    responses = client.simGetImages([
        airsim.ImageRequest("0", airsim.ImageType.DepthVis),
        airsim.ImageRequest("0", airsim.ImageType.Segmentation),
        airsim.ImageRequest("0", airsim.ImageType.Scene),
        airsim.ImageRequest("0", airsim.ImageType.SurfaceNormals)])

    for i, response in enumerate(responses):
        if response.pixels_as_float:
            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_float), pprint.pformat(response.camera_position)))
            airsim.write_pfm(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.pfm'), airsim.get_pfm_array(response))
        else:
            print("Type %d, size %d, pos %s" % (response.image_type, len(response.image_data_uint8), pprint.pformat(response.camera_position)))
            airsim.write_file(os.path.normpath('/temp/cv_mode_' + str(x) + "_" + str(i) + '.png'), response.image_data_uint8)

    pose = client.simGetVehiclePose()
    pose.position.x_val = pose.position.x_val + 1
    pose.position.y_val = pose.position.y_val - 0.5
    pose.position.z_val = pose.position.z_val - 0.5

airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
response = responses[0]

#initial position
moveUAV(client,pos,yaw)

#predictControl = AvoidLeftIgonreGoal(hfov, coll_thres, yaw, limit_yaw, step)
predictControl = AvoidLeft(hfov, coll_thres, yaw, limit_yaw, step)

for z in range(10000): # do few times
    
    #time.sleep(1)

    # get response
    responses = client.simGetImages([
        airsim.ImageRequest("1", airsim.ImageType.DepthPlanner, True)])
    response = responses[0]

    # get numpy array
    img1d = response.image_data_float

    # reshape array to 2D array H X W
    img2d = np.reshape(img1d,(response.height, response.width)) 
    
    [pos,yaw,target_dist] = predictControl.get_next_vec(img2d, uav_size, goal, pos)
    moveUAV(client,pos,yaw)

    if (target_dist < 1):
        print('Target reached.')
        airsim.wait_key('Press any key to continue')
        break