def convert_depth_from_source_to_agent(
self, source: carla.Image) -> Union[DepthData, None]:
"""Convert CARLA raw Image to a Union with Depth numpy array."""
try:
array = np.frombuffer(source.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (source.height, source.width, 4)) # BGRA
array = array[:, :, :3] # BGR
array = array[:, :, ::-1] # RGB
array = png_to_depth(array)
return DepthData(data=array)
except:
return None
def convert_depth_from_source_to_agent(
self, source: carla.Image
) -> Union[DepthData, None]:
"""Convert CARLA raw depth info to """
try:
array = np.frombuffer(source.raw_data, dtype=np.dtype("uint8"))
array = np.reshape(array, (source.height, source.width, 4)) # BGRA
array = array[:, :, :3] # BGR
array = array[:, :, ::-1] # RGB
# array = array.swapaxes(0, 1)
array = png_to_depth(array)
# print(array[350][160], array[350][688])
return DepthData(data=array)
except:
return None