From 6af207e476f061436cd9c1962cd8de43235a9765 Mon Sep 17 00:00:00 2001
From: Axel <axellopez92@outlook.com>
Date: Fri, 11 Jun 2021 09:58:04 +0200
Subject: [PATCH] Fixed color optical flow type.

---
 .../carla/source/libcarla/SensorData.cpp      | 27 ++++++++++++++-----
 PythonAPI/examples/manual_control.py          |  4 +--
 2 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/PythonAPI/carla/source/libcarla/SensorData.cpp b/PythonAPI/carla/source/libcarla/SensorData.cpp
index c10dab88e..3e61224eb 100644
--- a/PythonAPI/carla/source/libcarla/SensorData.cpp
+++ b/PythonAPI/carla/source/libcarla/SensorData.cpp
@@ -210,14 +210,25 @@ static void ConvertImage(T &self, EColorConverter cc) {
       throw std::invalid_argument("invalid color converter!");
   }
 }
+
+// image object resturned from optical flow to color conversion
+class FakeImage : public std::vector<uint8_t> {
+  public:
+  unsigned int Width = 0;
+  unsigned int Height = 0;
+  float FOV = 0;
+};
 // method to convert optical flow images to rgb
-static std::vector<uint8_t> ColorCodedFlow (
+static FakeImage ColorCodedFlow (
     carla::sensor::data::OpticalFlowImage& image) {
   namespace bp = boost::python;
   namespace csd = carla::sensor::data;
   constexpr float pi = 3.1415f;
   constexpr float rad2ang = 360.f/(2.f*pi);
-  std::vector<uint8_t> result;
+  FakeImage result;
+  result.Width = image.GetWidth();
+  result.Height = image.GetHeight();
+  result.FOV = image.GetFOVAngle();
   result.resize(image.GetHeight()*image.GetWidth()* 4);
 
   // lambda for computing batches of pixels
@@ -353,10 +364,14 @@ void export_sensor_data() {
   namespace csd = carla::sensor::data;
   namespace css = carla::sensor::s11n;
 
-  // wrapper for std::vector<uint8_t>
-  class_<std::vector<uint8_t> >("VecUint8")
-      .def(vector_indexing_suite<std::vector<uint8_t> >())
-      .add_property("raw_data", &GetRawDataAsBuffer<std::vector<uint8_t> >);
+  // Fake image returned from optical flow to color conversion
+  // fakes the regular image object
+  class_<FakeImage>("FakeImage", no_init)
+      .def(vector_indexing_suite<std::vector<uint8_t>>())
+      .add_property("width", &FakeImage::Width)
+      .add_property("height", &FakeImage::Height)
+      .add_property("fov", &FakeImage::FOV)
+      .add_property("raw_data", &GetRawDataAsBuffer<FakeImage>);
 
   class_<cs::SensorData, boost::noncopyable, boost::shared_ptr<cs::SensorData>>("SensorData", no_init)
     .add_property("frame", &cs::SensorData::GetFrame)
diff --git a/PythonAPI/examples/manual_control.py b/PythonAPI/examples/manual_control.py
index 2ac233493..a14f072cd 100755
--- a/PythonAPI/examples/manual_control.py
+++ b/PythonAPI/examples/manual_control.py
@@ -1084,8 +1084,8 @@ class CameraManager(object):
             dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
             self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
         elif self.sensors[self.index][0].startswith('sensor.camera.optical_flow'):
-            array = image.get_color_coded_flow()
-            array = np.frombuffer(array, dtype=np.dtype("uint8"))
+            image = image.get_color_coded_flow()
+            array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
             array = np.reshape(array, (image.height, image.width, 4))
             array = array[:, :, :3]
             array = array[:, :, ::-1]