image_converter.py

import numpy as np


def depth_to_array(image):
    array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
    array = np.reshape(array, (image.height, image.width, 4))  # RGBA format
    array = array[:, :, :3]  # Take only RGB
    array = array[:, :, ::-1]  # BGR
    array = array.astype(np.float32)  # 2ms
    gray_depth = ((array[:, :, 0] + array[:, :, 1] * 256.0 + array[:, :, 2] * 256.0 * 256.0) / (
            (256.0 * 256.0 * 256.0) - 1))  # 2.5ms
    gray_depth = 1000 * gray_depth
    return gray_depth


def to_bgra_array(image):
    """Convert a CARLA raw image to a BGRA numpy array."""
    array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
    array = np.reshape(array, (image.height, image.width, 4))
    return array


def to_rgb_array(image):
    """Convert a CARLA raw image to a RGB numpy array."""
    array = to_bgra_array(image)
    array = array[:, :, :3]
    array = array[:, :, ::-1]
    return array