rgb only

metadriverse · Sep 28, 2023 · f2958ef · f2958ef
1 parent 2f8379a
commit f2958ef
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/metadrive/component/sensors/base_camera.py b/metadrive/component/sensors/base_camera.py
@@ -110,7 +110,7 @@ def perceive(self, base_object, clip=True) -> np.ndarray:
         if self.engine.global_config["rgb_to_grayscale"]:
             ret = np.dot(ret[..., :3], [0.299, 0.587, 0.114])
         if not clip:
-            return ret.astype(np.uint8)
+            return ret.astype(np.uint8, copy=False, order="C")
         else:
             return ret / 255
 

diff --git a/metadrive/engine/core/image_buffer.py b/metadrive/engine/core/image_buffer.py
@@ -5,7 +5,7 @@
 from typing import Union, List
 
 import numpy as np
-from panda3d.core import NodePath, Vec3, Vec4, Camera, PNMImage, Shader, RenderState, ShaderAttrib
+from panda3d.core import NodePath, Vec3, Vec4, Camera, PNMImage, Shader, RenderState, ShaderAttrib, FrameBufferProperties
 
 from metadrive.constants import RENDER_MODE_ONSCREEN, BKG_COLOR, RENDER_MODE_NONE
 
@@ -51,6 +51,9 @@ def __init__(
 
             self.lens = self.cam.node().getLens()
             return
+
+        frame_buffer_property = FrameBufferProperties()
+        frame_buffer_property.set_rgba_bits(8,8,8,0) # disable alpha for RGB camera
 
         # self.texture = Texture()
         if frame_buffer_property is None:
@@ -102,10 +105,9 @@ def __init__(
     def get_rgb_array_cpu(self):
         origin_img = self.buffer.getDisplayRegion(1).getScreenshot()
         img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
-        img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 4))
+        img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 3))
         # img = np.swapaxes(img, 1, 0)
         img = img[::-1]
-        img = img[..., :-1]
         return img
 
     @staticmethod