From b750229e7087c896a0cbd1af3b263156cfcf96f4 Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Tue, 10 Mar 2026 18:02:02 -0500
Subject: [PATCH] fix(sim): remove alpha channel for improved performance
 (#37602)

fix: update RGB image processing in CopyRamRGBCamera
---
 tools/sim/bridge/metadrive/metadrive_common.py | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/tools/sim/bridge/metadrive/metadrive_common.py
index 079d933d1a..0106579b20 100644
--- a/tools/sim/bridge/metadrive/metadrive_common.py
+++ b/tools/sim/bridge/metadrive/metadrive_common.py
@@ -13,11 +13,9 @@ class CopyRamRGBCamera(RGBCamera):
 
   def get_rgb_array_cpu(self):
     origin_img = self.cpu_texture
-    img = np.frombuffer(origin_img.getRamImageAs("RGBA").getData(), dtype=np.uint8)
-    img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), 4))
-    img = img[:, :, :3]
-    # img = np.swapaxes(img, 1, 0)
-    img = img[::-1] # Flip on vertical axis
+    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