Minor fixes and code style adaptation

CHANGELOG.md

@@ -6,6 +6,7 @@
   * Fixed missing include directive in file **WheelPhysicsControl.h**
   * Fixed gravity measurement bug from IMU sensor
   * OpenDRIVE ingestion bugfixes
+  * Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
 
 ## CARLA 0.9.9
 

LibCarla/source/carla/sensor/SensorRegistry.h

@@ -15,6 +15,7 @@
 
 // 1. Include the serializer here.
 #include "carla/sensor/s11n/CollisionEventSerializer.h"
+#include "carla/sensor/s11n/DVSEventArraySerializer.h"
 #include "carla/sensor/s11n/EpisodeStateSerializer.h"
 #include "carla/sensor/s11n/GnssSerializer.h"
 #include "carla/sensor/s11n/ImageSerializer.h"
@@ -23,7 +24,6 @@
 #include "carla/sensor/s11n/NoopSerializer.h"
 #include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
 #include "carla/sensor/s11n/RadarSerializer.h"
-#include "carla/sensor/s11n/DVSEventArraySerializer.h"
 
 // 2. Add a forward-declaration of the sensor here.
 class ACollisionSensor;

LibCarla/source/carla/sensor/data/DVSEvent.h

@@ -14,32 +14,36 @@ namespace data {
 
 #pragma pack(push, 1)
 struct DVSEvent {
-    /** Default constructor **/
+    /// Default constructor
     DVSEvent() = default;
 
-    /** Copy Constructor **/
+    /// Copy Constructor
     DVSEvent(const DVSEvent &arg)
       :x(arg.x), y(arg.y), t(arg.t), pol(arg.pol){}
 
-    /** Moving constructor **/
+    /// Moving constructor
     DVSEvent(const DVSEvent &&arg)
       :x(std::move(arg.x)), y(std::move(arg.y)), t(std::move(arg.t)), pol(std::move(arg.pol)){}
 
-    /** Constructor **/
+    /// Constructor
     DVSEvent(std::uint16_t x, std::uint16_t y, std::int64_t t, bool pol)
       : x(x), y(y), t(t), pol(pol) {}
 
-    /** Assignement operator **/
-    DVSEvent &operator=(const DVSEvent &other)
-    {
-      x = other.x; y = other.y; t = other.t; pol = other.pol;
+    /// Assignement operator
+    DVSEvent &operator=(const DVSEvent &other) {
+      x = other.x;
+      y = other.y;
+      t = other.t;
+      pol = other.pol;
       return *this;
     }
 
-    /** Move Assignement operator **/
-    DVSEvent &operator=(const DVSEvent &&other)
-    {
-      x = std::move(other.x); y = std::move(other.y); t = std::move(other.t); pol = std::move(other.pol);
+    /// Move Assignement operator
+    DVSEvent &operator=(const DVSEvent &&other) {
+      x = std::move(other.x);
+      y = std::move(other.y);
+      t = std::move(other.t);
+      pol = std::move(other.pol);
       return *this;
     }
 

LibCarla/source/carla/sensor/s11n/DVSEventArraySerializer.h

@@ -54,19 +54,18 @@ namespace s11n {
       sensor.GetFOVAngle(),
     };
 
-    /** Reset the output buffer **/
+    /// Reset the output buffer
     output.reset(sizeof(DVSHeader) + (events.size() * sizeof(data::DVSEvent)));
 
-    /** Pointer to data in buffer **/
+    /// Pointer to data in buffer
     unsigned char *it = output.data();
 
-    /** Copy the header into the output buffer **/
+    /// Copy the header into the output buffer
     std::memcpy(it, reinterpret_cast<const void *>(&header), sizeof(header));
     it += sizeof(DVSHeader);
 
-    /** Copy the events into the output buffer **/
-    for (auto e : events)
-    {
+    /// Copy the events into the output buffer
+    for (auto e : events) {
       std::memcpy(it, reinterpret_cast<const void *>(&e), sizeof(data::DVSEvent));
       it += sizeof(data::DVSEvent);
     }

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -99,18 +99,18 @@ namespace data {
   }
 
   std::ostream &operator<<(std::ostream &out, const DVSEvent &event) {
-    out << "Event(" << event.x
-        << ',' << event.y
-        << ',' << event.t
-        << ',' << event.pol << ')';
+    out << "Event(x=" << std::to_string(event.x)
+        << ", y=" << std::to_string(event.y)
+        << ", t=" << std::to_string(event.t)
+        << ", pol=" << std::to_string(event.pol) << ')';
     return out;
   }
 
   std::ostream &operator<<(std::ostream &out, const DVSEventArray &events) {
-    out << "EventArray(frame=" << events.GetFrame()
-        << ", timestamp=" << events.GetTimestamp()
-        << ", dimensions=" << events.GetWidth() << 'x' << events.GetHeight()
-        << ", number_of_events=" << events.size()
+    out << "EventArray(frame=" << std::to_string(events.GetFrame())
+        << ", timestamp=" << std::to_string(events.GetTimestamp())
+        << ", dimensions=" << std::to_string(events.GetWidth()) << 'x' << std::to_string(events.GetHeight())
+        << ", number_of_events=" << std::to_string(events.size())
         << ')';
     return out;
   }
@@ -350,7 +350,7 @@ void export_sensor_data() {
     .add_property("pol", &csd::DVSEvent::pol)
     .def(self_ns::str(self_ns::self))
   ;
-  
+
   class_<csd::DVSEventArray, bases<cs::SensorData>, boost::noncopyable, boost::shared_ptr<csd::DVSEventArray>>("DVSEventArray", no_init)
     .add_property("width", &csd::DVSEventArray::GetWidth)
     .add_property("height", &csd::DVSEventArray::GetHeight)

PythonAPI/examples/manual_control.py

@@ -900,7 +900,6 @@ class CameraManager(object):
         self.transform_index = 1
         self.sensors = [
             ['sensor.camera.rgb', cc.Raw, 'Camera RGB', {}],
-            ['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
             ['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)', {}],
@@ -908,6 +907,7 @@ class CameraManager(object):
             ['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
                 'Camera Semantic Segmentation (CityScapes Palette)', {}],
             ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {}],
+            ['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
             ['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
                 {'lens_circle_multiplier': '3.0',
                 'lens_circle_falloff': '3.0',
@@ -983,7 +983,7 @@ class CameraManager(object):
             lidar_img = np.zeros((lidar_img_size), dtype = int)
             lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
             self.surface = pygame.surfarray.make_surface(lidar_img)
-        if self.sensors[self.index][0].startswith('sensor.camera.dvs'):
+        elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
             array = np.frombuffer(image.to_image().raw_data, dtype=np.dtype("uint8"))
             array = np.reshape(array, (image.height, image.width, 4))
             array = array[:, :, :3]

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DVSCamera.cpp

@@ -253,7 +253,7 @@ ADVSCamera::DVSEventArray ADVSCamera::simulation (float DeltaTime)
               }
               else
               {
-                /** Dropping event because time since last event < refractory_period_ns **/ 
+                /** Dropping event because time since last event < refractory_period_ns **/
               }
               this->ref_values[i] = curr_cross;
             }
@@ -285,4 +285,4 @@ template<typename T> T ADVSCamera::sampleNormalDistribution(bool deterministic,
   static std::mt19937 gen_deterministic(0);
   auto dist = std::normal_distribution<T>(mean, sigma);
   return deterministic ? dist(gen_deterministic) : dist(gen_nondeterministic);
-}
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/DVSCamera.h

@@ -13,7 +13,7 @@
 
 namespace dvs
 {
-  /** DVS Configuration structure **/
+  /// DVS Configuration structure
   struct Config
   {
     float Cp;
@@ -35,7 +35,7 @@ namespace dvs
     return static_cast<double>(nanoseconds) / 1e9;
   }
 
-}//namespace dvs
+} // namespace dvs
 
 /// Sensor that produce Dynamic Vision Events
 UCLASS()
@@ -56,22 +56,22 @@ protected:
   ADVSCamera::DVSEventArray simulation (float DeltaTime);
 
 private:
-  //! @return Sample from normal distribution (real-valued).
+  /// @return Sample from normal distribution (real-valued).
   template<typename T> T sampleNormalDistribution( bool deterministic, T mean, T sigma);
 
 private:
-  /** Images containing last (current) and previous image **/
+  /// Images containing last (current) and previous image
   TArray<float> last_image, prev_image;
 
-  /** Image containing the last reference vaklue to trigger event **/
+  /// Image containing the last reference vaklue to trigger event
   TArray<float> ref_values;
 
-  /** Image containing time of last event in seconds **/
+  /// Image containing time of last event in seconds
   TArray<double> last_event_timestamp;
 
-  /** Current time in nanoseconds **/
+  /// Current time in nanoseconds
   std::int64_t current_time;
 
-  /** DVS simulation configuration **/
+  /// DVS simulation configuration
   dvs::Config config;
 };