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ImageBuffer: prevent additional copy converting from RGBA to RGB #503

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merged 2 commits into from
Oct 1, 2023
Merged

ImageBuffer: prevent additional copy converting from RGBA to RGB #503

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f2958ef
rgb only
jnewb1 Sep 28, 2023
bf2a45a
run formatter
jnewb1 Sep 29, 2023
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2 changes: 1 addition & 1 deletion metadrive/component/sensors/base_camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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8 changes: 5 additions & 3 deletions metadrive/engine/core/image_buffer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand Down Expand Up @@ -52,6 +52,9 @@ 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:
self.buffer = self.engine.win.makeTextureBuffer("camera", width, height)
Expand Down Expand Up @@ -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
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