Moved ToImage() and added a use case in man_contr

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

@@ -9,6 +9,7 @@
 #include "carla/Debug.h"
 #include "carla/sensor/data/Array.h"
 #include "carla/sensor/data/DVSEvent.h"
+#include "carla/sensor/data/Color.h"
 #include "carla/sensor/s11n/DVSEventArraySerializer.h"
 
 namespace carla {
@@ -16,7 +17,7 @@ namespace sensor {
 namespace data {
 
   /// An array of DVS Events in an image structure HxW
-  class DVSEventArray : public Array<DVSEvent>  {
+  class DVSEventArray : public Array<DVSEvent> {
     using Super = Array<DVSEvent>;
   protected:
 
@@ -51,6 +52,22 @@ namespace data {
     auto GetFOVAngle() const {
       return GetHeader().fov_angle;
     }
+
+    std::vector<Color> ToImage() const {
+      std::vector<Color> img(GetHeight() * GetWidth());
+      for (const auto &event : *this) {
+        size_t index = (GetWidth() * event.y) + event.x;
+        if (event.pol == true) {
+          // Blue is positive
+          img[index].b = 255u;
+        } else {
+          // Red is negative
+          img[index].r = 255u;
+        }
+      }
+      return img;
+    }
+
   };
 
 } // namespace data

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -319,12 +319,6 @@ void export_sensor_data() {
     .def(self_ns::str(self_ns::self))
   ;
 
-    class_<std::vector<csd::Color> >("ColorVector")
-    .add_property("raw_data", &GetRawDataAsBuffer< std::vector<csd::Color> >)
-    .def("__len__", &std::vector<csd::Color>::size)
-    .def(vector_indexing_suite< std::vector<csd::Color> >())
-  ;
-
   class_<std::vector<std::int64_t>>("IntVector")
     .add_property("raw_data", &GetRawDataAsBuffer< std::vector<std::int64_t> >)
     .def("__len__", &std::vector<std::int64_t>::size)
@@ -364,25 +358,7 @@ void export_sensor_data() {
     .def("__setitem__", +[](csd::DVSEventArray &self, size_t pos, csd::DVSEvent event) {
       self.at(pos) = event;
     })
-    .def("to_image", +[](const csd::DVSEventArray &self) -> std::vector<csd::Color> {
+    .def("to_image", CALL_RETURNING_LIST(csd::DVSEventArray, ToImage))
-      std::vector<csd::Color> img (self.GetHeight() * self.GetWidth());
-      for (size_t i=0; i<self.size(); ++i)
-      {
-        const csd::DVSEvent &event = self[i];
-        size_t index = (self.GetWidth() * event.y) + event.x;
-        if (event.pol == true)
-        {
-          /** Blue is positive **/
-          img[index].b = 255u;
-        }
-        else
-        {
-          /** Red is negative **/
-          img[index].r = 255u;
-        }
-     }
-      return img;
-    })
     .def("to_array", +[](const csd::DVSEventArray &self) -> std::vector<std::vector<std::int64_t>> {
       std::vector<std::vector<std::int64_t>> array (self.size());
       for (size_t i=0; i<self.size(); ++i)

PythonAPI/examples/manual_control.py

@@ -980,15 +980,18 @@ class CameraManager(object):
             lidar_data = lidar_data.astype(np.int32)
             lidar_data = np.reshape(lidar_data, (-1, 2))
             lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3)
-            lidar_img = np.zeros((lidar_img_size), dtype = int)
+            lidar_img = np.zeros((lidar_img_size), dtype=np.uint8)
             lidar_img[tuple(lidar_data.T)] = (255, 255, 255)
             self.surface = pygame.surfarray.make_surface(lidar_img)
         elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
-            array = np.frombuffer(image.to_image().raw_data, dtype=np.dtype("uint8"))
+            # Example of converting the raw_data from a carla.DVSEventArray
-            array = np.reshape(array, (image.height, image.width, 4))
+            # sensor into a NumPy array and using it as an image
-            array = array[:, :, :3]
+            dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
-            array = array[:, :, ::-1]
+                ('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', np.bool)]))
-            self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1))
+            dvs_img = np.zeros((image.height, image.width, 3), dtype=np.uint8)
+            # Blue is positive, red is negative
+            dvs_img[dvs_events[:]['y'], dvs_events[:]['x'], dvs_events[:]['pol'] * 2] = 255
+            self.surface = pygame.surfarray.make_surface(dvs_img.swapaxes(0, 1))
         else:
             image.convert(self.sensors[self.index][1])
             array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))