Using Image Converter within Carla Client

[onebitme]

I've used some portion of your code. In Client what I did to save the camera images:

        cam_bp = world.get_blueprint_library().find('sensor.camera.rgb')
        cam_bp.set_attribute("image_size_x",str(800))
        cam_bp.set_attribute("image_size_y",str(600))
        cam_bp.set_attribute("fov",str(105))
        cam_location = carla.Location(2,0,1)
        cam_rotation = carla.Rotation(0,90,0)
        cam_transform = carla.Transform(cam_location,cam_rotation)
        ego_cam = world.spawn_actor(cam_bp,cam_transform,attach_to=ego_vehicle, attachment_type=carla.AttachmentType.Rigid)
        def to_bgra_array(image):
            """Convert a CARLA raw image to a BGRA numpy array."""
            array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
            array = np.reshape(array, (image.height, image.width, 4))
            return array

        def to_rgb_array(image):
            """Convert a CARLA raw image to a RGB numpy array."""
            array = to_bgra_array(image)
            # Convert BGRA to RGB.
            array = array[:, :, :3]
            array = array[:, :, ::-1]
            return array

        def image_callback(image):
            print("Image is coming")
            image_no = image.frame
            image_rgb = to_bgra_array(image)
            path = '~/output/' + str(image_no)
            cv2.imwrite(path +'.jpg', image_rgb)

        ego_cam.listen(lambda image: image_callback(image))