Going back to initial approach for uint16/float16 Optical Flow but ne…

…ed to do conversion on C++/Client side

PythonAPI/examples/manual_control.py

@@ -423,7 +423,10 @@ def parse_events(self, client, world, clock):
                         world.constant_velocity_enabled = True
                         world.hud.notification("Enabled Constant Velocity Mode at 60 km/h")
                 elif event.key > K_0 and event.key <= K_9:
-                    world.camera_manager.set_sensor(event.key - 1 - K_0)
+                    index_ctrl = 0
+                    if pygame.key.get_mods() & KMOD_CTRL:
+                        index_ctrl = 9
+                    world.camera_manager.set_sensor(event.key - 1 - K_0 + index_ctrl)
                 elif event.key == K_r and not (pygame.key.get_mods() & KMOD_CTRL):
                     world.camera_manager.toggle_recording()
                 elif event.key == K_r and (pygame.key.get_mods() & KMOD_CTRL):

Unreal/CarlaUE4/.ignore

@@ -0,0 +1,9 @@
+.kdev4
+.vscode
+Content
+Intermediate
+Saved
+Plugins/Carla/CarlaDependencies
+Plugins/Carla/Content
+Plugins/Carla/Intermediate
+Plugins/CarlaExporter/Intermediate

Unreal/CarlaUE4/Config/OptionalModules.ini

@@ -0,0 +1 @@
+Chrono OFF CarSim OFF

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.cpp

@@ -100,7 +100,14 @@ static void WriteFloatPixelsToBuffer_Vulkan(
       FIntRect(0, 0, Rect.X, Rect.Y),
       gFloatPixels,
       FReadSurfaceDataFlags(RCM_UNorm, CubeFace_MAX));
-  Buffer.copy_from(Offset, gFloatPixels);
+
+  TArray<float> IntermediateBuffer;
+  IntermediateBuffer.Reserve(gFloatPixels.Num() * 2);
+  for (FFloat16Color& color : gFloatPixels) {
+    IntermediateBuffer.Add((color.R.GetFloat() - 32767) * (2.0 / 65535));
+    IntermediateBuffer.Add((32767 - color.G.GetFloat()) * (2.0 / 65535));
+  }
+  Buffer.copy_from(Offset, IntermediateBuffer);
 }
 
 // =============================================================================