support no numpy

PyFlyt/__init__.py

@@ -3,8 +3,9 @@
 
 # Throw error if pybullet is not installed with numpy support.
 if not pybullet.isNumpyEnabled():
-    raise RuntimeError(
+    raise RuntimeWarning(
         "PyBullet is not installed properly with Numpy functionality,\n"
+        "This will result in a significant performance hit when using vision.\n'"
         "Please fix this by installing Numpy again, then rebuilding PyBullet:\n"
         "\tpip3 uninstall pybullet -y\n"
         "\tpip3 install numpy\n"

PyFlyt/core/abstractions/camera.py

@@ -162,4 +162,14 @@ def capture_image(self) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
             projectionMatrix=self.proj_mat,
         )
 
+        rgbaImg = np.asarray(rgbaImg).reshape(
+            self.camera_resolution[0], self.camera_resolution[1], -1
+        )
+        depthImg = np.asarray(depthImg).reshape(
+            self.camera_resolution[0], self.camera_resolution[1], -1
+        )
+        segImg = np.asarray(segImg).reshape(
+            self.camera_resolution[0], self.camera_resolution[1], -1
+        )
+
         return rgbaImg, depthImg, segImg

PyFlyt/gym_envs/fixedwing_envs/fixedwing_base_env.py

@@ -277,4 +277,8 @@ def render(self):
             projectionMatrix=self.env.drones[0].camera.proj_mat,
         )
 
+        rgbaImg = np.asarray(rgbaImg).reshape(
+            self.render_resolution[0], self.render_resolution[1], -1
+        )
+
         return rgbaImg

PyFlyt/gym_envs/quadx_envs/quadx_base_env.py

@@ -271,4 +271,8 @@ def render(self):
             projectionMatrix=self.camera_parameters[3],
         )
 
+        rgbaImg = np.asarray(rgbaImg).reshape(
+            self.render_resolution[0], self.render_resolution[1], -1
+        )
+
         return rgbaImg

PyFlyt/gym_envs/rocket_envs/rocket_base_env.py

@@ -332,4 +332,9 @@ def render(self):
             viewMatrix=self.env.drones[0].camera.view_mat,
             projectionMatrix=self.env.drones[0].camera.proj_mat,
         )
+
+        rgbaImg = np.asarray(rgbaImg).reshape(
+            self.render_resolution[0], self.render_resolution[1], -1
+        )
+
         return rgbaImg

tests/test_core.py

@@ -115,12 +115,24 @@ def test_camera():
         env.step()
 
         # check the camera image
-        assert isinstance(env.drones[0].rgbaImg, np.ndarray), f"Expected camera image to be of type `np.ndarray`, got {type(env.drones[0].rgbaImg)}."
-        assert isinstance(env.drones[0].depthImg, np.ndarray), f"Expected depth image to be of type `np.ndarray`, got {type(env.drones[0].depthImg)}."
-        assert isinstance(env.drones[0].segImg, np.ndarray), f"Expected segmented image to be of type `np.ndarray`, got {type(env.drones[0].segImg)}."
-        assert env.drones[0].rgbaImg.shape[-1] == 4, f"Expected 4 channels in the rendered image, got {env.drones[0].rgbaImg.shape[-1]}."
-        assert len(env.drones[0].depthImg.shape) == 2, f"Expected depth image to only have 2 dimensions, got {len(env.drones[0].depthImg.shape)}."
-        assert len(env.drones[0].segImg.shape) == 2, f"Expected segmented image to have only 2 dimensions, got {len(env.drones[0].segImg.shape)}"
+        assert isinstance(
+            env.drones[0].rgbaImg, np.ndarray
+        ), f"Expected camera image to be of type `np.ndarray`, got {type(env.drones[0].rgbaImg)}."
+        assert isinstance(
+            env.drones[0].depthImg, np.ndarray
+        ), f"Expected depth image to be of type `np.ndarray`, got {type(env.drones[0].depthImg)}."
+        assert isinstance(
+            env.drones[0].segImg, np.ndarray
+        ), f"Expected segmented image to be of type `np.ndarray`, got {type(env.drones[0].segImg)}."
+        assert (
+            env.drones[0].rgbaImg.shape[-1] == 4
+        ), f"Expected 4 channels in the rendered image, got {env.drones[0].rgbaImg.shape[-1]}."
+        assert (
+            env.drones[0].depthImg.shape[-1] == 1
+        ), f"Expected 1 channel in the depth image, got {env.drones[0].depthImg.shape[-1]}."
+        assert (
+            env.drones[0].segImg.shape[-1] == 1
+        ), f"Expected 1 channel in the segmentated image, got {env.drones[0].segImg.shape[-1]}"
 
     env.disconnect()
 

tests/test_gym_envs.py

@@ -2,10 +2,10 @@
 import warnings
 
 import gymnasium as gym
+import numpy as np
 import pytest
 from gymnasium.error import Error
 from gymnasium.utils.env_checker import check_env, data_equivalence
-import numpy as np
 
 import PyFlyt.gym_envs
 
@@ -163,7 +163,11 @@ def test_render(env_config):
         env.step(env.action_space.sample())
 
     for frame in frames:
-        assert isinstance(frame, np.ndarray), f"Expected render frames to be of type `np.ndarray`, got {type(frame)}."
-        assert frame.shape[-1] == 4, f"Expected 4 channels in the rendered image, got {frame.shape[-1]}."
+        assert isinstance(
+            frame, np.ndarray
+        ), f"Expected render frames to be of type `np.ndarray`, got {type(frame)}."
+        assert (
+            frame.shape[-1] == 4
+        ), f"Expected 4 channels in the rendered image, got {frame.shape[-1]}."
 
     env.close()