CARLA_0.9.6/PythonAPI/carla/agents/navigation/carla_env.py [574:627]:
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                self.display.blit(self.font.render(str(self.weather), True, (255, 255, 255)), (8, 118))
            pygame.display.flip()

        rgbs = []
        if self.num_cameras == 1:
            ims = [image_rl]
        elif self.num_cameras == 3:
            ims = [image_rl_left, image_rl, image_rl_right]
        elif self.num_cameras == 5:
            ims = [image_rl_lefter, image_rl_left, image_rl, image_rl_right, image_rl_righter]
        else:
            raise ValueError("num cameras must be 1 or 3 or 5")
        for im in ims:
            bgra = np.array(im.raw_data).reshape(self.rl_image_size, self.rl_image_size, 4)  # BGRA format
            bgr = bgra[:, :, :3]  # BGR format (84 x 84 x 3)
            rgb = np.flip(bgr, axis=2)  # RGB format (84 x 84 x 3)
            rgbs.append(rgb)
        rgb = np.concatenate(rgbs, axis=1)  # (84 x 252 x 3)

        # Rowan added
        if self.render_display and self.save_display_images:
            image_name = os.path.join(self.image_dir, "display%08d.jpg" % self.count)
            pygame.image.save(self.display, image_name)
            # ffmpeg -r 20 -pattern_type glob -i 'display*.jpg' carla.mp4
        if self.save_rl_images:
            image_name = os.path.join(self.image_dir, "rl%08d.png" % self.count)

            im = Image.fromarray(rgb)
            metadata = PngInfo()
            metadata.add_text("throttle", str(throttle))
            metadata.add_text("steer", str(steer))
            metadata.add_text("brake", str(brake))
            im.save(image_name, "PNG", pnginfo=metadata)

            # # Example usage:
            # from PIL.PngImagePlugin import PngImageFile
            # im = PngImageFile("rl00001234.png")
            # # Actions are stored in the image's metadata:
            # print("Actions: %s" % im.text)
            # throttle = float(im.text['throttle'])  # range [0, 1]
            # steer = float(im.text['steer'])  # range [-1, 1]
            # brake = float(im.text['brake'])  # range [0, 1]
        self.count += 1

        next_obs = rgb  # (84 x 252 x 3) or (84 x 420 x 3)
        # debugging - to inspect images:
        # import matplotlib.pyplot as plt
        # import pdb; pdb.set_trace()
        # plt.imshow(next_obs)
        # plt.show()
        next_obs = np.transpose(next_obs, [2, 0, 1])  # 3 x 84 x 84/252/420
        assert next_obs.shape == self.observation_space.shape
        if self.count >= self._max_episode_steps:
            print("Episode success: I've reached the episode horizon ({}).".format(self._max_episode_steps))
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CARLA_0.9.8/PythonAPI/carla/agents/navigation/carla_env.py [571:623]:
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                self.display.blit(self.font.render(str(self.weather), True, (255, 255, 255)), (8, 118))
            pygame.display.flip()

        rgbs = []
        if self.num_cameras == 1:
            ims = [image_rl]
        elif self.num_cameras == 3:
            ims = [image_rl_left, image_rl, image_rl_right]
        elif self.num_cameras == 5:
            ims = [image_rl_lefter, image_rl_left, image_rl, image_rl_right, image_rl_righter]
        else:
            raise ValueError("num cameras must be 1 or 3 or 5")
        for im in ims:
            bgra = np.array(im.raw_data).reshape(self.rl_image_size, self.rl_image_size, 4)  # BGRA format
            bgr = bgra[:, :, :3]  # BGR format (84 x 84 x 3)
            rgb = np.flip(bgr, axis=2)  # RGB format (84 x 84 x 3)
            rgbs.append(rgb)
        rgb = np.concatenate(rgbs, axis=1)  # (84 x 252 x 3)

        # Rowan added
        if self.render_display and self.save_display_images:
            image_name = os.path.join(self.image_dir, "display%08d.jpg" % self.count)
            pygame.image.save(self.display, image_name)
            # ffmpeg -r 20 -pattern_type glob -i 'display*.jpg' carla.mp4
        if self.save_rl_images:
            image_name = os.path.join(self.image_dir, "rl%08d.png" % self.count)
            im = Image.fromarray(rgb)
            metadata = PngInfo()
            metadata.add_text("throttle", str(throttle))
            metadata.add_text("steer", str(steer))
            metadata.add_text("brake", str(brake))
            im.save(image_name, "PNG", pnginfo=metadata)

            # # Example usage:
            # from PIL.PngImagePlugin import PngImageFile
            # im = PngImageFile("rl00001234.png")
            # # Actions are stored in the image's metadata:
            # print("Actions: %s" % im.text)
            # throttle = float(im.text['throttle'])  # range [0, 1]
            # steer = float(im.text['steer'])  # range [-1, 1]
            # brake = float(im.text['brake'])  # range [0, 1]
        self.count += 1

        next_obs = rgb  # (84 x 252 x 3) or (84 x 420 x 3)
        # debugging - to inspect images:
        # import matplotlib.pyplot as plt
        # import pdb; pdb.set_trace()
        # plt.imshow(next_obs)
        # plt.show()
        next_obs = np.transpose(next_obs, [2, 0, 1])  # 3 x 84 x 84/252/420
        assert next_obs.shape == self.observation_space.shape
        if self.count >= self._max_episode_steps:
            print("Episode success: I've reached the episode horizon ({}).".format(self._max_episode_steps))
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