Fixed linker errors with numpy in windows.

PythonAPI/carla/setup.py

@@ -131,7 +131,7 @@ def get_libcarla_extensions():
         # https://docs.microsoft.com/es-es/cpp/porting/modifying-winver-and-win32-winnt
         extra_compile_args = [
             '/experimental:external', '/external:I', 'dependencies/include/system',
-            '/DBOOST_ALL_NO_LIB', '/DBOOST_PYTHON_STATIC_LIB',
+            '/DBOOST_ALL_NO_LIB', '/DBOOST_PYTHON_STATIC_LIB', '/DBOOST_NUMPY_STATIC_LIB',
             '/DBOOST_ERROR_CODE_HEADER_ONLY', '/D_WIN32_WINNT=0x0600', '/DHAVE_SNPRINTF',
             '/DLIBCARLA_WITH_PYTHON_SUPPORT', '-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true', '/MD']
     else:

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -210,7 +210,6 @@ static void ConvertImage(T &self, EColorConverter cc) {
       throw std::invalid_argument("invalid color converter!");
   }
 }
-#ifndef _WIN32
 // method to convert optical flow images to rgb
 static boost::python::numpy::ndarray ColorCodedFlow (
     carla::sensor::data::OpticalFlowImage& image) {
@@ -317,7 +316,6 @@ static boost::python::numpy::ndarray ColorCodedFlow (
   bn::dtype type = bn::dtype::get_builtin<uint8_t>();
   return bn::from_data(&result[0], type, shape, stride, bp::object()).copy();
 }
-#endif
 
 template <typename T>
 static std::string SaveImageToDisk(T &self, std::string path, EColorConverter cc) {
@@ -397,9 +395,7 @@ void export_sensor_data() {
     .add_property("height", &csd::OpticalFlowImage::GetHeight)
     .add_property("fov", &csd::OpticalFlowImage::GetFOVAngle)
     .add_property("raw_data", &GetRawDataAsBuffer<csd::OpticalFlowImage>)
-    #ifndef _WIN32
     .def("get_color_coded_flow", &ColorCodedFlow)
-    #endif
     .def("__len__", &csd::OpticalFlowImage::size)
     .def("__iter__", iterator<csd::OpticalFlowImage>())
     .def("__getitem__", +[](const csd::OpticalFlowImage &self, size_t pos) -> csd::OpticalFlowPixel {

PythonAPI/carla/source/libcarla/libcarla.cpp

@@ -209,9 +209,7 @@ static auto MakeCallback(boost::python::object callback) {
     }
   };
 }
-#ifndef _WIN32
 #include <boost/python/numpy.hpp>
-#endif
 
 #include "Geom.cpp"
 #include "Actor.cpp"
@@ -239,9 +237,7 @@ BOOST_PYTHON_MODULE(libcarla) {
 #if PY_MAJOR_VERSION < 3 || PY_MINOR_VERSION < 7
   PyEval_InitThreads();
 #endif
-#ifndef _WIN32
   boost::python::numpy::initialize();
-#endif
   scope().attr("__path__") = "libcarla";
   export_geom();
   export_control();