Release 260111

tools/sim/bridge/metadrive/metadrive_common.py

@@ -0,0 +1,37 @@
+import numpy as np
+
+from metadrive.component.sensors.rgb_camera import RGBCamera
+from panda3d.core import Texture, GraphicsOutput
+
+
+class CopyRamRGBCamera(RGBCamera):
+  """Camera which copies its content into RAM during the render process, for faster image grabbing."""
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.cpu_texture = Texture()
+    self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam)
+
+  def get_rgb_array_cpu(self):
+    origin_img = self.cpu_texture
+    img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1))
+    img = img[:,:,:3] # RGBA to RGB
+    # img = np.swapaxes(img, 1, 0)
+    img = img[::-1] # Flip on vertical axis
+    return img
+
+
+class RGBCameraWide(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    lens = self.get_lens()
+    lens.setFov(120)
+    lens.setNear(0.1)
+
+
+class RGBCameraRoad(CopyRamRGBCamera):
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    lens = self.get_lens()
+    lens.setFov(40)
+    lens.setNear(0.1)