
    niC                     "    S r SSKrSSKJr  S rg)z8Utilities to convert imagery protobufs to other formats.    N)imagery_pb2c                 ^   U R                   [        R                  R                  :X  a[  [        R
                  " U R                  [        R                  S9n[        R                  " XR                  U R                  S/SS9nU$ U R                   [        R                  R                  :X  a[  [        R
                  " U R                  [        R                  S9n[        R                  " XR                  U R                  S/SS9nU$ U R                   [        R                  R                  :X  aZ  [        R
                  " U R                  [        R                  S9n[        R                  " XR                  U R                  /SS9nU$ U R                   [        R                  R                  :X  aZ  [        R
                  " U R                  [        R                  S9n[        R                  " XR                  U R                  /SS9nU$ [!        SR#                  U R                   5      5      e)a:  Converts an Image proto into a numpy array.

Args:
  image: An instance of the imagery_pb2.Image proto.

Returns:
  A numpy array. For color images (e.g. BGRA), the converted ND array
  has the format [Height, Width, Channel]. For gray images (e.g. depth), the
  converted ND array has the format [Height, Width].
)dtype   C)order   zUnsupported image format {})image_formatr   ImageIMAGE_FORMAT_BGRA_HWC_8Unp
fromstringcontentuint8reshape	height_pxwidth_pxIMAGE_FORMAT_RGB_HWC_8UIMAGE_FORMAT_GRAY_HW_32Ffloat32IMAGE_FORMAT_GRAY_HW_16Uuint16
ValueErrorformat)image
img_bufferimgs      e/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/vision/imagery_utils.pyconvert_image_to_arrayr   	   s}    ;,,EEEu}}BHH=J
**__enna8ECJ
;,,DDDu}}BHH=J
**__enna8ECJ
;,,EEEu}}BJJ?J
**Z//5>>!B#
NCJ
;,,EEEu}}BII>J
**Z//5>>!B#
NCJ0778J8JKLL    )__doc__numpyr   pybullet_envs.minitaur.visionr   r    r    r   <module>r%      s    >  5"Mr    