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Fix DVS camera in ue5-dev branch #8823

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Fix DVS camera in ue5-dev branch #8823

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12 changes: 11 additions & 1 deletion PythonAPI/examples/manual_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1131,6 +1131,7 @@ def __init__(self, parent_actor, hud, gamma_correction):
['sensor.camera.instance_segmentation', cc.Raw, 'Camera Instance Segmentation (Raw)', {}],
['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
['sensor.lidar.ray_cast_semantic', None, 'Semantic Lidar (Ray-Cast)', {'range': '50'}],
['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',
Expand Down Expand Up @@ -1230,6 +1231,15 @@ def _parse_image(weak_self, image):
lidar_tag = image[i].object_tag
lidar_img[tuple(point.T)] = OBJECT_TO_COLOR[int(lidar_tag)]
self.surface = pygame.surfarray.make_surface(lidar_img)
elif self.sensors[self.index][0].startswith('sensor.camera.dvs'):
# Example of converting the raw_data from a carla.DVSEventArray
# sensor into a NumPy array and using it as an image
dvs_events = np.frombuffer(image.raw_data, dtype=np.dtype([
('x', np.uint16), ('y', np.uint16), ('t', np.int64), ('pol', bool)]))
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))
elif self.sensors[self.index][0].startswith('sensor.camera.optical_flow'):
image = image.get_color_coded_flow()
array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
Expand Down Expand Up @@ -1377,4 +1387,4 @@ def main():

if __name__ == '__main__':

main()
main()
2 changes: 1 addition & 1 deletion Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Sensor/DVSCamera.cpp
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Expand Up @@ -134,7 +134,7 @@ void ADVSCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTim
TRACE_CPUPROFILER_EVENT_SCOPE(ADVSCamera::PostPhysTick);
Super::PostPhysTick(World, TickType, DeltaTime);
check(CaptureRenderTarget != nullptr);
if (!HasActorBegunPlay() || IsValid(this))
if (!HasActorBegunPlay() || !IsValid(this))
{
return;
}
Expand Down