mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-03 08:41:47 +08:00
FrogAi
38 lines
1.2 KiB
Python
38 lines
1.2 KiB
Python
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)
|