From f2958efddc475f1e45f1771816507e76d9d77e78 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Thu, 28 Sep 2023 13:33:24 -0700
Subject: [PATCH] rgb only

---
 metadrive/component/sensors/base_camera.py | 2 +-
 metadrive/engine/core/image_buffer.py      | 8 +++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/metadrive/component/sensors/base_camera.py b/metadrive/component/sensors/base_camera.py
index dba7f2d78..574457b98 100644
--- 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
index f1697e25e..eeab072a0 100644
--- 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