strange depth map image comes out

[bluebear78]

I want to get depth map image and semantic image. so I attached two camera to 'client_example.py' but so stange 'depth image' and 'semantic image' comes out. I don't understanad why this images come out. How can I get normal 'depth image' and 'semantic segmantation image' ? Normal camera is clean. and semantic segmantation image is just black. this image is depth map image that I got in Carla sim.

[nsubiron]

Hi @bluebear78,

This is what you are supposed to get.

The server encodes depth using the three channels to have higher precision, and the segmentation label in the red channel as a number from 0 to 12, so it looks black at first sight. See Cameras and Sensors.

In Python you can convert these images using carla.image_converter.

But if you have to convert a bulk of images the best way would be to compile and use the app at "Util/ImageConverter" as it is much faster converting lots of images. Just store all the images in a folder as you do now and run the image converter

$ cd Util/ImageConverter
$ make
$ ./bin/image_converter -c semseg -i path/to/image/folder -o output/folder

[YashBansod]

use the carla.image_converter like this:

depth_map_array = image_converter.depth_to_logarithmic_grayscale(dept_map_image)

then you can write the image to the disk using:

scipy.misc.imsave(address, depth_map_array)

[bluebear78]

`~/main/carla-master/Util/ImageConverter$ make

g++ -Wall -Wextra -std=c++14 -fopenmp -O3 -DNDEBUG -o bin/image_converter main.cpp -lboost_system -lboost_filesystem -lboost_program_options -lpng -ljpeg -ltiff In file included from image_converter.h:10:0, from main.cpp:16: image_io.h: In instantiation of ‘class image_converter::image_file<image_converter::jpeg_io, image_converter::jpeg_io, boost::gil::image<boost::gil::pixel<unsigned char, boost::gil::layout<boost::mpl::vector3<boost::gil::red_t, boost::gil::green_t, boost::gil::blue_t> > >, false, std::allocator > >’: main.cpp:54:35: required from ‘void parse_image(const string&, const string&, pixel_converter_function) [with IO = image_converter::jpeg_io; std::cxx11::string = std::cxx11::basic_string; pixel_converter_function = std::function<void(boost::gil::pixel<unsigned char, boost::gil::layout<boost::mpl::vector3<boost::gil::red_t, boost::gil::green_t, boost::gil::blue_t> > >&)>]’ main.cpp:69:68: required from here image_io.h:174:5: error: static assertion failed: I/O format not supported! static_assert(IO_READER::is_supported, "I/O format not supported!"); ^ image_io.h:177:56: error: no type named ‘reader_type’ in ‘struct image_converter::jpeg_io’ using reader_type = typename IO_READER::reader_type; ^ image_io.h:178:56: error: no type named ‘writer_type’ in ‘struct image_converter::jpeg_io’ using writer_type = typename IO_WRITER::writer_type; ^ image_io.h: In instantiation of ‘class image_converter::image_file<image_converter::tiff_io, image_converter::tiff_io, boost::gil::image<boost::gil::pixel<unsigned char, boost::gil::layout<boost::mpl::vector3<boost::gil::red_t, boost::gil::green_t, boost::gil::blue_t> > >, false, std::allocator > >’: main.cpp:54:35: required from ‘void parse_image(const string&, const string&, pixel_converter_function) [with IO = image_converter::tiff_io; std::cxx11::string = std::cxx11::basic_string; pixel_converter_function = std::function<void(boost::gil::pixel<unsigned char, boost::gil::layout<boost::mpl::vector3<boost::gil::red_t, boost::gil::green_t, boost::gil::blue_t> > >&)>]’ main.cpp:71:68: required from here image_io.h:174:5: error: static assertion failed: I/O format not supported! static_assert(IO_READER::is_supported, "I/O format not supported!"); ^ image_io.h:177:56: error: no type named ‘reader_type’ in ‘struct image_converter::tiff_io’ using reader_type = typename IO_READER::reader_type; ^ image_io.h:178:56: error: no type named ‘writer_type’ in ‘struct image_converter::tiff_io’ using writer_type = typename IO_WRITER::writer_type; ^ Makefile:11: recipe for target 'release' failed make: *** [release] Error 1 ` I followed your instructions. but there was a problem. I don't understand why I have a problem step by step :( @nsubiron @YashBansod

[YashBansod]

@bluebear78 I don't know about the steps that @nsubiron mentioned as I have never tried that myself but the code I mentioned works. Just integrate the image conversion and saving code I mentioned and it should work just fine. Also This way you do not need to post-process your generated images after they are saved on the disk from the Client. Note that I have tried that only with the precompiled version of CARLA, so if you have built carla from yourself then I can't say anything about it.

[nsubiron]

Hi @bluebear78, have you installed the dependencies mentioned in the ImageConverter's README?

[TzabarDolev]

This image is the raw depth format. You also can output a gray and logarithmic depth maps but this will affect the quality and resolution of the image (int8 vs int24) I wrote about the CarlaSimBlog - https://carlasimblog.wordpress.com/2023/09/16/sensors/