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Fixed color optical flow type.

This commit is contained in:
Axel 2021-06-11 09:58:04 +02:00 committed by bernat
parent c88e5b780d
commit 6af207e476
2 changed files with 23 additions and 8 deletions
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25
PythonAPI/carla/source/libcarla/SensorData.cpp
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@ -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")
// 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("raw_data", &GetRawDataAsBuffer<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)

4
PythonAPI/examples/manual_control.py
View File

@ -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]