sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/tools/sim/bridge/metadrive/metadrive_common.py

@@ -0,0 +1,35 @@
+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.getRamImageAs("RGB").getData(), dtype=np.uint8)
+    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 3))
+    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)