Can send more than two kinds of images

Source/CarlaServer/source/carla/CarlaServer.h

@@ -29,7 +29,9 @@ namespace carla {
 
   enum ImageType {
     IMAGE,
+    SCENE_FINAL,
     DEPTH,
+    SEMANTIC_SEG,
   };
 
   struct Image {

Source/CarlaServer/source/carla/server/Protocol.cpp

@@ -199,26 +199,17 @@ namespace server {
 static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
 
     std::string image_data;
+    std::string sceneFinal_data;
     std::string depth_data;
+    std::string semanticSeg_data;
     std::string image_size_data;
+    std::string sceneFinal_size_data;
     std::string depth_size_data;
+    std::string semanticSeg_size_data;
 
     for (const Image &img : images){
       img_encode compressedImage;
 
-      /*
-      {
-      using namespace std;
-      clock_t begin = clock();
-      if (!GetImage(img, compressedImage)) {
-        std::cerr << "Error while encoding image" << std::endl;
-        return false;
-      }
-      clock_t end = clock();
-      double elapsed_secs = double(end - begin) / CLOCKS_PER_SEC;
-      cout << "Time to encode the image: " << elapsed_secs << " sec" << endl;
-      }*/
-
 
       if (!GetImage(img, compressedImage)) {
         std::cerr << "Error while encoding image" << std::endl;
@@ -226,14 +217,26 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
       }
 
       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);
           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);
+          break;
+
         case DEPTH:
           for (unsigned long int i = 0; i < compressedImage.size; ++i) depth_data += compressedImage.buffer[i];
           depth_size_data += GetBytes(compressedImage.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);
+          break;
       }
 
       free(compressedImage.buffer);
@@ -241,9 +244,13 @@ static bool getPNGImages(const std::vector<Image> &images, Reward &rwd) {
     }
 
     rwd.set_depth_sizes(depth_size_data);
+    rwd.set_finalimage_sizes(sceneFinal_size_data);
     rwd.set_image_sizes(image_size_data);
+    rwd.set_semanticseg_sizes(semanticSeg_size_data);
     rwd.set_images(image_data);
+    rwd.set_finalimages(sceneFinal_data);
     rwd.set_depths(depth_data);
+    rwd.set_semanticsegs(semanticSeg_data);
 
     return true;
   }

Source/CarlaServer/source/carla/server/carla_protocol.proto

@@ -82,8 +82,12 @@ message Reward {
   optional float ori_y = 15;
   optional float ori_z = 16;
   optional bytes image_sizes = 17;
-  optional bytes depth_sizes = 18;
-  optional bytes images = 19;
-  optional bytes depths = 20;
+  optional bytes finalImage_sizes = 18;
+  optional bytes depth_sizes = 19;
+  optional bytes semanticSeg_sizes = 20;
+  optional bytes images = 21;
+  optional bytes finalImages = 22;
+  optional bytes depths = 23;
+  optional bytes semanticSegs = 24;
 
 }

Source/CarlaServer/source/test/async_server.cpp

@@ -206,6 +206,3 @@ int main(int argc, char *argv[]) {
   }
 }
 
-//TODO:
-//pmatrix float 16
-//start_index size_t