From 8ead5d0b2c03ebc68480379db327cf438dfecf6f Mon Sep 17 00:00:00 2001
From: Xisco Bosch <fbosch@cvc.uab.es>
Date: Wed, 5 Apr 2017 16:08:17 +0200
Subject: [PATCH] repeated image and depth

---
 Source/CarlaServer/source/carla/server/Protocol.cpp         | 6 ++++--
 Source/CarlaServer/source/carla/server/carla_protocol.proto | 4 ++--
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/Source/CarlaServer/source/carla/server/Protocol.cpp b/Source/CarlaServer/source/carla/server/Protocol.cpp
index 0d923547d..d87c4d785 100644
--- a/Source/CarlaServer/source/carla/server/Protocol.cpp
+++ b/Source/CarlaServer/source/carla/server/Protocol.cpp
@@ -46,11 +46,13 @@ namespace server {
     tjCompress2(jpegCompressor, color_image.data(), width, 0, height, TJPF_RGB,
       &compressedImage, &jpegSize, TJSAMP_444, jpeg_quality, TJFLAG_FASTDCT);
     tjDestroy(jpegCompressor);
+
     if (!depth) {
-      rwd.set_image(compressedImage, jpegSize);
+      rwd.add_image((char*)compressedImage);
     } else {
-      rwd.set_depth(compressedImage, jpegSize);
+      rwd.add_depth((char*)compressedImage);
     }
+
     return true;
   }
 
diff --git a/Source/CarlaServer/source/carla/server/carla_protocol.proto b/Source/CarlaServer/source/carla/server/carla_protocol.proto
index 75cb93621..bf3d82003 100644
--- a/Source/CarlaServer/source/carla/server/carla_protocol.proto
+++ b/Source/CarlaServer/source/carla/server/carla_protocol.proto
@@ -100,6 +100,6 @@ message Reward {
   optional float ori_x = 13;
   optional float ori_y = 14;
   optional float ori_z = 15;
-  optional bytes image = 16;
-  optional bytes depth = 17;
+  repeated bytes image = 16;
+  repeated bytes depth = 17;
 }