Append file extension if missing when saving sensor data

PythonClient/carla/sensor.py

@@ -32,6 +32,10 @@ Point = namedtuple('Point', 'x y z color')
 Point.__new__.__defaults__ = (0.0, 0.0, 0.0, None)
 
 
+def _append_extension(filename, ext):
+    return filename if filename.lower().endswith(ext.lower()) else filename + ext
+
+
 # ==============================================================================
 # -- Sensor --------------------------------------------------------------------
 # ==============================================================================
@@ -166,6 +170,8 @@ class Image(SensorData):
 
     def save_to_disk(self, filename):
         """Save this image to disk (requires PIL installed)."""
+        filename = _append_extension(filename, '.png')
+
         try:
             from PIL import Image as PImage
         except ImportError:
@@ -227,6 +233,7 @@ class PointCloud(SensorData):
 
     def save_to_disk(self, filename):
         """Save this point-cloud to disk as PLY format."""
+        filename = _append_extension(filename, '.ply')
 
         def construct_ply_header():
             """Generates a PLY header given a total number of 3D points and

PythonClient/client_example.py

@@ -117,11 +117,8 @@ def run_carla_client(args):
                 # Save the images to disk if requested.
                 if args.save_images_to_disk:
                     for name, measurement in sensor_data.items():
-                        if isinstance(measurement, LidarMeasurement):
-                            filename = args.lidar_filename_format
-                        else:
-                            filename = args.image_filename_format
-                        measurement.save_to_disk(filename.format(episode, name, frame))
+                        filename = args.out_filename_format.format(episode, name, frame)
+                        measurement.save_to_disk(filename)
 
                 # We can access the encoded data of a given image as numpy
                 # array using its "data" property. For instance, to get the
@@ -223,8 +220,7 @@ def main():
 
     logging.info('listening to server %s:%s', args.host, args.port)
 
-    args.image_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.png'
-    args.lidar_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}.ply'
+    args.out_filename_format = '_out/episode_{:0>4d}/{:s}/{:0>6d}'
 
     while True:
         try:

PythonClient/test/test_client.py

@@ -19,8 +19,8 @@ sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
 
 import carla
 
+from carla import sensor
 from carla.client import CarlaClient
-from carla.sensor import Camera, Image
 from carla.settings import CarlaSettings
 from carla.tcp import TCPClient
 from carla.util import make_connection
@@ -31,17 +31,19 @@ import console
 def run_carla_client(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'
+        filename = '_out/test_episode_{:0>4d}/{:s}/{:0>6d}'
         frames_per_episode = 300
         episode = 0
         while True:
             episode += 1
             settings = CarlaSettings()
-            settings.set(SendNonPlayerAgentsInfo=True,SynchronousMode=args.synchronous)
+            settings.set(SendNonPlayerAgentsInfo=True, SynchronousMode=args.synchronous)
             settings.randomize_seeds()
-            camera = Camera('DefaultCamera')
+            camera = sensor.Camera('DefaultCamera')
             camera.set_image_size(300, 200) # Do not change this, hard-coded in test.
             settings.add_sensor(camera)
+            lidar = sensor.Lidar('DefaultLidar')
+            settings.add_sensor(lidar)
 
             logging.debug('sending CarlaSettings:\n%s', settings)
             logging.info('new episode requested')
@@ -64,14 +66,15 @@ def run_carla_client(args):
             for frame in range(0, frames_per_episode):
                 logging.debug('reading measurements...')
                 measurements, sensor_data = client.read_data()
-                images = [x for x in sensor_data.values() if isinstance(x, Image)]
+                images = [x for x in sensor_data.values() if isinstance(x, sensor.Image)]
 
                 logging.debug('received data of %d agents', len(measurements.non_player_agents))
                 if len(images) > 0:
                     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))
+                    for name, data in sensor_data.items():
+                        data.save_to_disk(filename.format(episode, name, frame))
 
                 logging.debug('sending control...')
                 control = measurements.player_measurements.autopilot_control