Add image parser to client

.gitignore

@@ -13,3 +13,4 @@ Util/Install
 
 *.log
 *.pid
+_*

Util/PythonClient/carla/client.py

@@ -2,6 +2,10 @@
 
 """CARLA Client."""
 
+import logging
+import os
+import struct
+
 from . import tcp
 
 from . import carla_server_pb2 as carla_protocol
@@ -79,7 +83,7 @@ class CarlaClient(object):
         pb_message.ParseFromString(data)
         # Read images.
         images_raw_data = self._stream_client.read()
-        return pb_message, images_raw_data
+        return pb_message, CarlaImage.parse_raw_data(images_raw_data)
 
     def send_control(self, **kwargs):
         """Send vehicle control for the current frame."""
@@ -91,3 +95,49 @@ class CarlaClient(object):
         pb_message.reverse = kwargs.get('reverse', False)
         pb_message.autopilot = kwargs.get('autopilot', False)
         self._control_client.write(pb_message.SerializeToString())
+
+
+class CarlaImage(object):
+    @staticmethod
+    def parse_raw_data(raw_data):
+        getval = lambda index: struct.unpack('<L', raw_data[index*4:index*4+4])[0]
+        images = []
+        total_size = len(raw_data) / 4
+        index = 0
+        while index < total_size:
+            width = getval(index)
+            height = getval(index + 1)
+            image_type = getval(index + 2)
+            begin = index + 3
+            end = begin + width * height
+            images.append(CarlaImage(width, height, image_type, raw_data[begin*4:end*4]))
+            index = end
+        return images
+
+    def __init__(self, width, height, image_type, raw_data):
+        logging.debug('parsed image %dx%d type %d (%d bytes)', width, height, image_type, len(raw_data))
+        assert len(raw_data) == 4 * width * height
+        self.width = width
+        self.height = height
+        self.image_type = image_type
+        self.raw = raw_data
+
+    def save_to_disk(self, filename):
+        try:
+            from PIL import Image
+        except ImportError:
+            raise RuntimeError('cannot import PIL, make sure pillow package is installed')
+
+        image = Image.frombytes(
+            mode='RGBA',
+            size=(self.width, self.height),
+            data=self.raw,
+            decoder_name='raw')
+        b, g, r, a = image.split()
+        image = Image.merge("RGB", (r, g, b))
+
+        folder = os.path.dirname(filename)
+        if not os.path.isdir(folder):
+            os.makedirs(folder)
+        logging.debug('saving image to %r...', filename)
+        image.save(filename)

Util/PythonClient/carla/settings.py

@@ -75,12 +75,6 @@ class CarlaSettings(object):
             return 0
         return self.NumberOfVehicles + self.NumberOfPedestrians
 
-    def get_images_byte_size(self):
-        size = 0
-        for camera in self._cameras:
-            size += 3 + int(camera.ImageSizeX) * int(camera.ImageSizeY)
-        return 4 * size
-
     def randomize_seeds(self):
         self.SeedVehicles = random.getrandbits(32)
         self.SeedPedestrians = random.getrandbits(32)

Util/PythonClient/client_test.py

@@ -17,15 +17,20 @@ from carla.tcp import TCPClient
 from carla.util import make_connection
 
 
-def run_carla_server(host, port):
-    with make_connection(CarlaClient, host, port, timeout=15) as client:
+def run_carla_server(args):
+    with make_connection(CarlaClient, args.host, args.port, timeout=15) as client:
         logging.info('CarlaClient connected')
+        filename = '_images/episode_{:0>3d}/image_{:0>5d}.png'
         frames_per_episode = 300
+        episode = 0
         while True:
+            episode += 1
             settings = CarlaSettings()
-            settings.set(SendNonPlayerAgentsInfo=True)
+            settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous)
             settings.randomize_seeds()
-            settings.add_camera(Camera('DefaultCamera'))
+            camera = Camera('DefaultCamera')
+            camera.set_image_size(300, 200)
+            settings.add_camera(camera)
 
             logging.debug('sending CarlaSettings:\n%s', settings)
             logging.info('new episode requested')
@@ -45,12 +50,16 @@ def run_carla_server(host, port):
             autopilot = (random.random() < 0.5)
             reverse = (random.random() < 0.2)
 
-            for _ in range(0, frames_per_episode):
+            for frame in range(0, frames_per_episode):
                 logging.debug('reading measurements...')
                 measurements, images = client.read_measurements()
 
                 logging.debug('received data of %d agents', len(measurements.non_player_agents))
-                logging.debug('received %d bytes of images', len(images))
+                assert len(images) == 1
+                assert (images[0].width, images[0].height) == (camera.ImageSizeX, camera.ImageSizeY)
+
+                if args.images_to_disk:
+                    images[0].save_to_disk(filename.format(episode, frame))
 
                 logging.debug('sending control...')
                 client.send_control(
@@ -83,6 +92,14 @@ def main():
         default=2000,
         type=int,
         help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-s', '--synchronous',
+        action='store_true',
+        help='enable synchronous mode')
+    argparser.add_argument(
+        '-i', '--images-to-disk',
+        action='store_true',
+        help='save images to disk')
     argparser.add_argument(
         '--echo',
         action='store_true',
@@ -118,11 +135,15 @@ def main():
 
             else:
 
-                run_carla_server(args.host, args.port)
+                run_carla_server(args)
 
-        except Exception as exception:
+        except AssertionError as assertion:
+            raise assertion
+        except ConnectionRefusedError as exception:
             logging.error('exception: %s', exception)
             time.sleep(1)
+        except Exception as exception:
+            raise exception
 
 
 if __name__ == '__main__':

Util/PythonClient/test/Basic.py

@@ -36,11 +36,11 @@ class _BasicTestBase(test.CarlaServerTest):
                     number_of_agents = len(measurements.non_player_agents)
                     expected_number_of_agents = carla_settings.get_number_of_agents()
                     logging.debug('received data of %d/%d agents', number_of_agents, expected_number_of_agents)
-                    logging.debug('received %d bytes of images', len(images))
+                    logging.debug('received %d images', len(images))
                     if number_of_agents > expected_number_of_agents or number_of_agents + 10 < expected_number_of_agents:
                         raise RuntimeError('received data for %d agents, but %d was requested' % (number_of_agents, expected_number_of_agents))
-                    if len(images) != carla_settings.get_images_byte_size():
-                        raise RuntimeError('received %d bytes of images, expected %d' % (len(images), carla_settings.get_images_byte_size()))
+                    if len(images) != len(carla_settings._cameras):
+                        raise RuntimeError('received %d images, expected %d' % (len(images), len(carla_settings._cameras)))
                     logging.debug('sending control...')
                     client.send_control(
                         steer=random.uniform(-1.0, 1.0),