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removed unused code and added optical flow processing explanation+example to manual_control.py

This commit is contained in:
Shashank Singh 2021-04-20 19:04:19 +02:00 committed by Axel1092
parent 38beabbad5
commit 6b6f639e15
3 changed files with 11 additions and 14 deletions
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6
LibCarla/source/carla/sensor/data/Color.h
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@ -47,7 +47,7 @@ namespace data {
static_assert(sizeof(Color) == sizeof(uint32_t), "Invalid color size!");
#pragma pack(push, 1)
/// A 64-bit PF_FloatRGBA color [16bit / channel]. (still uses uint16 types to transport 16bit floats)
/// A 64-bit color [16 bits per channel (R, G, B, and A each)]
struct Color16bit {
Color16bit() = default;
Color16bit(const Color16bit &) = default;
@ -65,10 +65,6 @@ namespace data {
return !(*this == rhs);
}
// operator rpc::Color16bit() const {
// return {r, g, b};
// }
uint16_t b = 0u;
uint16_t g = 0u;
uint16_t r = 0u;

12
PythonAPI/examples/manual_control.py
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@ -1009,7 +1009,6 @@ class CameraManager(object):
self.transform_index = 1
self.sensors = [
['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}],
['sensor.camera.optical_flow', cc.Raw, 'Optical Flow', {}],
['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)', {}],
['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)', {}],
['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)', {}],
@ -1022,7 +1021,9 @@ class CameraManager(object):
{'lens_circle_multiplier': '3.0',
'lens_circle_falloff': '3.0',
'chromatic_aberration_intensity': '0.5',
'chromatic_aberration_offset': '0'}]]
'chromatic_aberration_offset': '0'}],
['sensor.camera.optical_flow', cc.Raw, 'Optical Flow', {}],
]
world = self._parent.get_world()
bp_library = world.get_blueprint_library()
for item in self.sensors:
@ -1113,6 +1114,13 @@ class CameraManager(object):
array = np.frombuffer(image.raw_data, dtype=np.uint16)
array = np.reshape(array, (image.height, image.width, 4))
if OPENCV_INSTALLED:
# The x and y optical flow values are stored as `uint16`s each
# which maps the integer range of [0, 65535] to represent a floating-point range of [0, 1]
# The code below converts this range of [0, 1] to the originally computed optical flow range of [-2, 2]
# where the units are in terms of the viewport's dimensions.
# For example for a viewport of size 800x600, the maximum optical flow that can be represented is:
# [-1600, 1600] in the x axis and
# [-1200, 1200] in the y axis
data_array = np.array(array[:, :, 0:2], dtype=np.float32)
data_array[:, :, 0] = (data_array[:, :, 0] - 32767) * (2 * image.width / 65535)
data_array[:, :, 1] = (32767 - data_array[:, :, 1]) * (2 * image.height / 65535)

7
Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/OpticalFlowCamera.cpp
View File

@ -14,13 +14,6 @@ AOpticalFlowCamera::AOpticalFlowCamera(const FObjectInitializer &ObjectInitializ
Enable16BitFormat(true);
AddPostProcessingMaterial(
TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
// AddPostProcessingMaterial(
//#if PLATFORM_LINUX
// TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'")
//#else
// TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial'")
//#endif
// );
AddPostProcessingMaterial(
TEXT("Material'/Carla/PostProcessingMaterials/VelocityMaterial.VelocityMaterial'"));
}