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send bitmap

This commit is contained in:
Xisco Bosch 2017-05-31 12:24:15 +02:00
parent 397a07d0b7
commit 0f57074569
6 changed files with 138 additions and 48 deletions
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9
Source/Carla/AI/AICarlaVehicleController.cpp
View File

@ -31,7 +31,7 @@ static bool RayTrace(
TArray <FHitResult> OutHits;
static FName TraceTag = FName(TEXT("VehicleTrace"));
//World->DebugDrawTraceTag = TraceTag;
World->DebugDrawTraceTag = TraceTag;
const bool Success = World->LineTraceMultiByObjectType(
OutHits,
@ -56,7 +56,8 @@ static bool RayTrace(
AAICarlaVehicleController::AAICarlaVehicleController() :
Super(),
MovementComponent(nullptr)
MovementComponent(nullptr),
TrafficLightStop(false)
{
bAutoManageActiveCameraTarget = false;
//MAX_SPEED = ((rand() * 10) - 5) + MAX_SPEED;
@ -203,8 +204,8 @@ void AAICarlaVehicleController::Tick(float DeltaTime){
steering = CalcStreeringValue();
}
const FVector Start = GetPawn()->GetActorLocation() + (GetPawn()->GetActorForwardVector().GetSafeNormal() * 250.0) + FVector(0.0, 0.0, 50.0);
const FVector End = Start + GetPawn()->GetActorForwardVector().GetSafeNormal() * 400.0;
const FVector Start = GetPawn()->GetActorLocation() + (GetPawn()->GetActorForwardVector().GetSafeNormal() * (200.0f + VehicleBounds->GetScaledBoxExtent().X/2.0f)) + FVector(0.0f, 0.0f, 50.0f);
const FVector End = Start + GetPawn()->GetActorForwardVector().GetSafeNormal() * (300.0f + VehicleBounds->GetScaledBoxExtent().X/2.0f);
auto speed = MovementComponent->GetForwardSpeed() * 0.036f;

2
Source/Carla/AI/AICarlaVehicleController.h
View File

@ -131,7 +131,7 @@ private:
UPROPERTY(EditAnywhere)
float MAX_SPEED = 30.0f;
bool TrafficLightStop = false;
bool TrafficLightStop;
int route_it = 0;
TArray<FVector> route;

22
Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
View File

@ -23,12 +23,29 @@ namespace server {
const std::unique_ptr<Protocol> &proto,
const Reward_Values &rwd
) {
if (!thr.getRestart()) {
{
using namespace std;
if (!thr.getRestart()) {
std::string message;
clock_t start = clock();
Reward reward;
proto->LoadReward(reward, rwd);
clock_t end = clock();
double elapsed_secs = double(end- start) / CLOCKS_PER_SEC;
cout << "Send time: " << elapsed_secs << " (s)" << endl;
bool correctSerialize = reward.SerializeToString(&message);
TCPServer::error_code error;
@ -47,6 +64,9 @@ namespace server {
logTCPError("Falied to serialize", error);
}
}
}
}
// This is the thread that listens for string over the TCP socket.

108
Source/CarlaServer/source/carla/server/Protocol.cpp
View File

@ -10,6 +10,9 @@
#include <stdio.h>
#include <stdlib.h>
#include <ctime>
#ifdef CARLA_WITH_PNG_COMPRESSION
#include CARLA_LIBPNG_INCLUDE
static_assert(
@ -67,12 +70,12 @@ namespace server {
TPngDestructor(png_struct *p) : p(p) {}
~TPngDestructor() { if (p) { png_destroy_write_struct(&p, NULL); } }
};
/*
static pixel_t * pixel_at (bitmap_t * bitmap, int x, int y)
{
return bitmap->pixels + bitmap->width * y + x;
}
*/
void loadPNGData(png_structp png_ptr, png_bytep data, png_size_t length)
{
/* with libpng15 next line causes pointer deference error; use libpng12 */
@ -93,7 +96,7 @@ namespace server {
memcpy(p->buffer + p->size, data, length);
p->size += length;
}
/*
bool LoadBitmap (bitmap_t &bitmap, const Image &image_info){
bitmap.width = image_info.width;
@ -120,9 +123,33 @@ namespace server {
return true;
}
*/
static bool GetImage(const Image &image_info, img_encode &compressedImage){
static bool LoadBitmap (char* image, const Image &image_info){
size_t x = 0, y = 0;
int it = 0;
for (const Color &color : image_info.image) {
if (x >= image_info.width) {
x = 0;
++y;
}
image[it] = color.R;
image[++it] = color.G;
image[++it] = color.B;
++x;
//pixel->alpha = color.A;
}
return true;
}
/*
static bool GetPNGImage(const Image &image_info, img_encode &compressedImage){
if (image_info.image.empty())
return false;
if (image_info.image.size() != image_info.width * image_info.height) {
@ -131,8 +158,9 @@ namespace server {
}
bitmap_t bitmap;
if (!LoadBitmap(bitmap, image_info)) return false;
if (!LoadBitmap(bitmap, image_info)) return false;
int depth = 8;
int pixel_size = 3;
png_structp png = NULL;
@ -167,7 +195,7 @@ namespace server {
PNG_FILTER_TYPE_DEFAULT);
/* Initialize rows of PNG. */
// Initialize rows of PNG.
row_pointers = (png_byte **) png_malloc (png, bitmap.height * sizeof (png_byte *));
for (y = 0; y < bitmap.height; ++y) {
png_byte *row = (png_byte *) png_malloc (png, sizeof (uint8_t) * bitmap.width * pixel_size);
@ -183,9 +211,9 @@ namespace server {
compressedImage.buffer = NULL;
compressedImage.size = 0;
png_set_write_fn(png, &compressedImage, loadPNGData, NULL);
png_set_rows (png, info, row_pointers);
png_write_png(png, info, PNG_TRANSFORM_IDENTITY, NULL);
@ -198,6 +226,26 @@ namespace server {
free(bitmap.pixels);
free(info);
return true;
}
*/
static bool GetBitMapImage(const Image &image_info, char* image){
if (image_info.image.empty()){
std::cerr << "Error: Empty image" << std::endl;
return false;
}
if (image_info.image.size() != image_info.width * image_info.height) {
std::cerr << "Invalid image size" << std::endl;
return false;
}
if (!LoadBitmap(image, image_info)) {
std::cerr << "Error loaging the bitmap" << std::endl;
return false;
}
return true;
}
@ -213,39 +261,57 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
std::string semanticSeg_size_data;
for (const Image &img : images){
img_encode compressedImage;
// img_encode compressedImage;
size_t image_size = img.width * img.height * 3;
char image[image_size] ;
if (!GetImage(img, compressedImage)) {
/*
if (!GetImage(img, compressedImage)) {
std::cerr << "Error while encoding image" << std::endl;
return false;
}
*/
if (!GetBitMapImage(img, image)){
std::cerr << "Error while encoding image" << std::endl;
return false;
}
switch (img.type){
case IMAGE:
for (unsigned long int i = 0; i < compressedImage.size; ++i) image_data += compressedImage.buffer[i];
image_size_data += GetBytes(compressedImage.size);
//for (unsigned long int i = 0; i < compressedImage.size; ++i) image_data += compressedImage.buffer[i];
//image_size_data += GetBytes(compressedImage.size);
for (unsigned long int i = 0; i < image_size; ++i) image_data += image[i];
image_size_data += GetBytes(image_size);
break;
case SCENE_FINAL:
for (unsigned long int i = 0; i < compressedImage.size; ++i) sceneFinal_data += compressedImage.buffer[i];
sceneFinal_size_data += GetBytes(compressedImage.size);
//for (unsigned long int i = 0; i < compressedImage.size; ++i) sceneFinal_data += compressedImage.buffer[i];
//sceneFinal_size_data += GetBytes(compressedImage.size);
for (unsigned long int i = 0; i < image_size; ++i) sceneFinal_data += image[i];
sceneFinal_size_data += GetBytes(image_size);
break;
case DEPTH:
for (unsigned long int i = 0; i < compressedImage.size; ++i) depth_data += compressedImage.buffer[i];
depth_size_data += GetBytes(compressedImage.size);
//for (unsigned long int i = 0; i < compressedImage.size; ++i) depth_data += compressedImage.buffer[i];
//depth_size_data += GetBytes(compressedImage.size);
for (unsigned long int i = 0; i < image_size; ++i) sceneFinal_data += image[i];
sceneFinal_size_data += GetBytes(image_size);
break;
case SEMANTIC_SEG:
for (unsigned long int i = 0; i < compressedImage.size; ++i) semanticSeg_data += compressedImage.buffer[i];
semanticSeg_size_data += GetBytes(compressedImage.size);
//for (unsigned long int i = 0; i < compressedImage.size; ++i) semanticSeg_data += compressedImage.buffer[i];
//semanticSeg_size_data += GetBytes(compressedImage.size);
for (unsigned long int i = 0; i < image_size; ++i) sceneFinal_data += image[i];
sceneFinal_size_data += GetBytes(image_size);
break;
}
free(compressedImage.buffer);
//free(compressedImage.buffer);
}
rwd.set_depth_sizes(depth_size_data);
@ -273,6 +339,7 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
Protocol::~Protocol() {}
void Protocol::LoadReward(Reward &reward, const Reward_Values &values) {
reward.set_collision_car(values.collision_car);
reward.set_collision_gen(values.collision_general);
reward.set_collision_ped(values.collision_pedestrian);
@ -294,7 +361,10 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
if (!getPNGImages(values.images, reward)) {
std::cerr << "Error compressing image to PNG" << std::endl;
}
#endif // CARLA_WITH_PNG_COMPRESSION
}
void Protocol::LoadScene(Scene &scene, const Scene_Values &values) {

19
Source/CarlaServer/source/carla/thread/AsyncReaderJobQueue.h
View File

@ -8,6 +8,8 @@
#include <atomic>
#include <functional>
#include <ctime>
namespace carla {
namespace thread {
@ -68,9 +70,20 @@ namespace thread {
_restart = false;
_queue.canWait(true);
while (!_restart && !done) {
auto value = _queue.wait_and_pop();
if (value != nullptr) {
_job(*value);
{
using namespace std;
clock_t start = clock();
auto value = _queue.wait_and_pop();
if (value != nullptr) {
_job(*value);
clock_t end = clock();
double elapsed_secs = double(end- start) / CLOCKS_PER_SEC;
cout<< "Send Thread: " << elapsed_secs << endl;
}
}//Sleep(10);
}

26
Source/CarlaServer/source/test/async_server.cpp
View File

@ -25,9 +25,9 @@ static std::vector<carla::Color> makeImage(uint32_t width, uint32_t height) {
std::vector<unsigned char> img(width * height * 4);
for (uint32_t i = 0; i < height; ++i) {
for (uint32_t e = 0; e < width; ++e) {
img[4 * width * i + 4 * e + 0] = 255 * !(e & i);
img[4 * width * i + 4 * e + 1] = e ^ i;
img[4 * width * i + 4 * e + 2] = e | i;
img[4 * width * i + 4 * e + 0] = rand() % 256;//255 * !(e & i);
img[4 * width * i + 4 * e + 1] = rand() % 256;//e ^ i;
img[4 * width * i + 4 * e + 2] = rand() % 256;//e | i;
img[4 * width * i + 4 * e + 3] = 255;
}
}
@ -46,8 +46,8 @@ static std::vector<carla::Color> makeImage(uint32_t width, uint32_t height) {
std::unique_ptr<carla::Reward_Values> makeReward() {
auto reward = std::make_unique<carla::Reward_Values>();
const uint32_t imageWidth = 512u;
const uint32_t imageHeight = 512u;
const uint32_t imageWidth = 800u;
const uint32_t imageHeight = 600u;
reward->player_location = {1.0f, 1.0f};
reward->player_orientation = {1.0f, 0.0f, 0.0f};
@ -60,7 +60,7 @@ std::unique_ptr<carla::Reward_Values> makeReward() {
reward->intersect_offroad = 0.5f;
reward->game_timestamp = 0u;
for (int i = 0; i < 4; ++i) {
for (int i = 0; i < 1; ++i) {
carla::Image img;
img.image = makeImage(imageWidth, imageHeight);
img.width = imageWidth;
@ -104,20 +104,6 @@ int main(int argc, char *argv[]) {
for (;;) {
if (server.newEpisodeRequested(file, read) && read) {
/*
{
uint32_t scene;
bool error = false, readed = false;
do {
error = !server.tryReadSceneInit(scene, readed);
} while (!readed && !error);
if (error) {
std::cerr << "ERROR while sending SceneValues" << std::endl;
}
else std::cout << "Received: scene = " << scene << std::endl;
}
*/
carla::Scene_Values sceneValues;
for (int i = 0; i < 1; ++i){