Add commetns and refactoring
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0cfb60bea0
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@ -1,180 +1,192 @@
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using System.Collections;
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using System.Collections.Generic;
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///-----------------------------------------------------------------
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/// Namespace: <Cozmo>
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/// Class: <ImageProcessor>
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/// Description: <Converts a rendertexture to a opencv mat in order to use the canny algorithm.
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/// After processing the mat will be converted to a render texture back again.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using UnityEngine;
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using OpenCvSharp;
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using System.Threading.Tasks;
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public class ImageProcessor : MonoBehaviour
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namespace Cozmo
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{
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[Header("RenderTexture")]
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[Tooltip("RenderTexture that will be passed to the LearningBrain.")]
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public RenderTexture renderTextureCropped;
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[Header("Debug Helper")]
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[Tooltip("Reference to the MeshRenderer that will show the processed Image from Cozmo")]
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public MeshRenderer processedImageRenderer;
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[Tooltip("Reference to the MeshRenderer that will show the processed and cropped Image from Cozmo")]
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public MeshRenderer processedImageRendererCropped;
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/// <summary>
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/// Center of Gravity in the cropped canny image
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/// </summary>
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public Point CenterOfGravity { get; private set; }
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// OpenCVSharp parameters
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private Mat cozmoImageMat;
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private Mat cannyImage;
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private Texture2D finalProcessedCozmoTexture;
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private Vec3b[] cozmoImageData;
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private byte[] cannyImageData;
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private int imWidth = 320; // Width of the camera image from the virtual cozmo
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private int imHeight = 240; // Height of the camera image from the virtual cozmo
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private int croppedImHeight = 120; // Height of the cropped camera image from the virtual cozmo
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private Camera textureCamera; // Virtual Cozmo camera
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private Texture2D originalCozmoTexture;
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private void Start()
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public class ImageProcessor : MonoBehaviour
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{
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// Get reference to the cozmo camera
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textureCamera = GetComponent<Camera>();
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[Header("RenderTexture")]
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[Tooltip("RenderTexture that will be passed to the LearningBrain.")]
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public RenderTexture renderTextureCropped;
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// Set image widths and heights based on the given RenderTextures
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imWidth = textureCamera.targetTexture.width;
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imHeight = textureCamera.targetTexture.height;
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[Header("Debug Helper")]
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[Tooltip("Reference to the MeshRenderer that will show the processed Image from Cozmo")]
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public MeshRenderer processedImageRenderer;
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[Tooltip("Reference to the MeshRenderer that will show the processed and cropped Image from Cozmo")]
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public MeshRenderer processedImageRendererCropped;
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// assign the processed targetTexture to the renderer to display the image
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processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
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processedImageRendererCropped.material.mainTexture = renderTextureCropped;
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/// <summary>
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/// Center of Gravity in the cropped canny image
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/// </summary>
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public Point CenterOfGravity { get; private set; }
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// initialize video / image with given size
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cozmoImageMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
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cozmoImageData = new Vec3b[imHeight * imWidth];
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cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
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cannyImageData = new byte[croppedImHeight * imWidth];
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originalCozmoTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
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finalProcessedCozmoTexture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
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}
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///// <summary>
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///// Gets called when a new image arrives from the camera this script lies on
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///// </summary>
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///// <param name="source"></param>
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///// <param name="destination"></param>
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public void OnRenderImage(RenderTexture source, RenderTexture destination)
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{
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RenderTextureToTexture2D(source);
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TextureToMat(originalCozmoTexture);
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ProcessImage(cozmoImageMat);
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cannyImage = CropImage(cannyImage);
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FindCenterOfGravity(cannyImage);
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MatToTexture(cannyImage);
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Graphics.Blit(finalProcessedCozmoTexture, destination);
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Graphics.Blit(finalProcessedCozmoTexture, renderTextureCropped);
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}
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// Crop image to just see the middle of the original image
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private Mat CropImage(Mat image)
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{
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//cut a fourth out of the top and bottom of the image
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OpenCvSharp.Rect rectCroped = new OpenCvSharp.Rect(0, image.Height / 4, image.Width, image.Height / 2);
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Mat croppedImage = new Mat(image, rectCroped);
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return croppedImage;
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}
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// OpenCVSharp parameters
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private Mat cozmoImageMat;
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private Mat cannyImage;
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private Texture2D finalProcessedCozmoTexture;
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private Vec3b[] cozmoImageData;
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private byte[] cannyImageData;
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private void RenderTextureToTexture2D(RenderTexture rTex)
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{
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RenderTexture.active = rTex;
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originalCozmoTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
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originalCozmoTexture.Apply();
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}
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private int imWidth = 320; // Width of the camera image from the virtual cozmo
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private int imHeight = 240; // Height of the camera image from the virtual cozmo
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private int croppedImHeight = 120; // Height of the cropped camera image from the virtual cozmo
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private Camera textureCamera; // Virtual Cozmo camera
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// Convert Unity Texture2D object to OpenCVSharp Mat object
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private void TextureToMat(Texture2D source)
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{
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// Color32 array : r, g, b, a
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Color32[] c = source.GetPixels32();
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private Texture2D originalCozmoTexture;
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// Parallel for loop
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// convert Color32 object to Vec3b object
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// Vec3b is the representation of pixel for Mat
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Parallel.For(0, imHeight, i =>
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private void Start()
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{
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for (var j = 0; j < imWidth; j++)
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{
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var col = c[j + i * imWidth];
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var vec3 = new Vec3b
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{
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Item0 = col.b,
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Item1 = col.g,
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Item2 = col.r
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};
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// set pixel to an array
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cozmoImageData[j + i * imWidth] = vec3;
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}
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});
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// Get reference to the cozmo camera
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textureCamera = GetComponent<Camera>();
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// assign the Vec3b array to Mat
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cozmoImageMat.SetArray(0, 0, cozmoImageData);
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}
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// Set image widths and heights based on the given RenderTextures
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imWidth = textureCamera.targetTexture.width;
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imHeight = textureCamera.targetTexture.height;
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// assign the processed targetTexture to the renderer to display the image
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processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
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processedImageRendererCropped.material.mainTexture = renderTextureCropped;
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// Simple example of canny edge detect
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private void ProcessImage(Mat _image)
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{
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Cv2.Canny(_image, cannyImage, 100, 100);
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}
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// initialize video / image with given size
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cozmoImageMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
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cozmoImageData = new Vec3b[imHeight * imWidth];
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cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
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cannyImageData = new byte[croppedImHeight * imWidth];
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originalCozmoTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
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finalProcessedCozmoTexture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
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}
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// Convert OpenCVSharp Mat object to Unity Texture2D object
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private void MatToTexture(Mat mat)
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{
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// cannyImageData is byte array, because canny image is grayscale
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mat.GetArray(0, 0, cannyImageData);
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// create Color32 array that can be assigned to Texture2D directly
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Color32[] c = new Color32[croppedImHeight * imWidth];
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// parallel for loop
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Parallel.For(0, croppedImHeight, i =>
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///// <summary>
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///// Gets called when a new image arrives from the camera this script lies on
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///// </summary>
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///// <param name="source"></param>
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///// <param name="destination"></param>
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public void OnRenderImage(RenderTexture source, RenderTexture destination)
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{
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for (var j = 0; j < imWidth; j++)
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RenderTextureToTexture2D(source);
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TextureToMat(originalCozmoTexture);
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ProcessImage(cozmoImageMat);
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cannyImage = CropImage(cannyImage);
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FindCenterOfGravity(cannyImage);
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MatToTexture(cannyImage);
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Graphics.Blit(finalProcessedCozmoTexture, destination);
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Graphics.Blit(finalProcessedCozmoTexture, renderTextureCropped);
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}
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// Crop image to just see the middle of the original image
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private Mat CropImage(Mat image)
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{
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//cut a fourth out of the top and bottom of the image
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OpenCvSharp.Rect rectCroped = new OpenCvSharp.Rect(0, image.Height / 4, image.Width, image.Height / 2);
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Mat croppedImage = new Mat(image, rectCroped);
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return croppedImage;
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}
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// Convert the rendertexture to a texture2d
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private void RenderTextureToTexture2D(RenderTexture rTex)
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{
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RenderTexture.active = rTex;
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originalCozmoTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
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originalCozmoTexture.Apply();
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}
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// Convert Unity Texture2D object to OpenCVSharp Mat object
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private void TextureToMat(Texture2D source)
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{
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// Color32 array : r, g, b, a
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Color32[] c = source.GetPixels32();
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// Parallel for loop
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// convert Color32 object to Vec3b object
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// Vec3b is the representation of pixel for Mat
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Parallel.For(0, imHeight, i =>
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{
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byte vec = cannyImageData[j + i * imWidth];
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var color32 = new Color32
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for (var j = 0; j < imWidth; j++)
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{
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r = vec,
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g = vec,
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b = vec,
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a = 0
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};
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c[j + i * imWidth] = color32;
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}
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});
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var col = c[j + i * imWidth];
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var vec3 = new Vec3b
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{
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Item0 = col.b,
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Item1 = col.g,
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Item2 = col.r
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};
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// set pixel to an array
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cozmoImageData[j + i * imWidth] = vec3;
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}
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});
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// assign the Vec3b array to Mat
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cozmoImageMat.SetArray(0, 0, cozmoImageData);
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}
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finalProcessedCozmoTexture.SetPixels32(c);
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// update texture
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finalProcessedCozmoTexture.Apply();
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}
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// Simple example of canny edge detect
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private void ProcessImage(Mat _image)
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{
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Cv2.Canny(_image, cannyImage, 100, 100);
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}
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// Find the Center of Gravity in the image
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private void FindCenterOfGravity(Mat processedImage)
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{
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// find moments of the image
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Moments m = new Moments(processedImage, true);
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CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00);
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// Convert OpenCVSharp Mat object to Unity Texture2D object
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private void MatToTexture(Mat mat)
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{
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// cannyImageData is byte array, because canny image is grayscale
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mat.GetArray(0, 0, cannyImageData);
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// create Color32 array that can be assigned to Texture2D directly
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Color32[] c = new Color32[croppedImHeight * imWidth];
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// parallel for loop
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Parallel.For(0, croppedImHeight, i =>
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{
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for (var j = 0; j < imWidth; j++)
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{
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byte vec = cannyImageData[j + i * imWidth];
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var color32 = new Color32
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{
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r = vec,
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g = vec,
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b = vec,
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a = 0
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};
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c[j + i * imWidth] = color32;
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}
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});
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finalProcessedCozmoTexture.SetPixels32(c);
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// update texture
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finalProcessedCozmoTexture.Apply();
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}
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// Find the Center of Gravity in the image
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private void FindCenterOfGravity(Mat processedImage)
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{
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// find moments of the image
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Moments m = new Moments(processedImage, true);
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CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00);
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#if UNITY_EDITOR
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// show the image with a point mark at the centroid
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Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1);
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Cv2.Flip(processedImage, processedImage, FlipMode.X);
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Cv2.ImShow("Image with center", processedImage);
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// show the image with a point mark at the centroid
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Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1);
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Cv2.Flip(processedImage, processedImage, FlipMode.X);
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Cv2.ImShow("Image with center", processedImage);
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#endif
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}
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}
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}
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}
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@ -1,26 +1,36 @@
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using MLAgents;
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using System.Collections;
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using System.Collections.Generic;
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///-----------------------------------------------------------------
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/// Namespace: <Cozmo>
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/// Class: <CozmoAcademy>
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/// Description: <The academy used for cozmo. Sets cozmo back to its starting position if the academy gets reset.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using MLAgents;
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using UnityEngine;
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public class CozmoAcademy : Academy
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namespace Cozmo
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{
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public GameObject cozmo;
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public Transform startPoint;
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//public bool testAcademyReset = false;
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public override void AcademyReset()
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public class CozmoAcademy : Academy
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{
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cozmo.transform.position = startPoint.position;
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cozmo.transform.rotation = startPoint.rotation;
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}
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[Tooltip("Reference to the cozmo gameobject in the scene.")]
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public GameObject cozmo;
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[Tooltip("Reference to the transform which represents the starting position for cozmo.")]
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public Transform startPoint;
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//private void Update()
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//{
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// if (testAcademyReset)
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// {
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// AcademyReset();
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// testAcademyReset = !testAcademyReset;
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// }
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//}
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public override void AcademyReset()
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{
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SetCozmoBackToStartingPosition();
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}
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// Resets Cozmos position and rotation to match its starting position
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private void SetCozmoBackToStartingPosition()
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{
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cozmo.transform.position = startPoint.position;
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cozmo.transform.rotation = startPoint.rotation;
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}
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}
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}
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@ -1,221 +1,232 @@
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using MLAgents;
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///-----------------------------------------------------------------
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/// Namespace: <Cozmo>
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/// Class: <CozmoAgent>
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/// Description: <The actual agent in the scene. Collects observations and executes the actions.
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/// Also rewards the agent and sets an actionmask.>
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/// Author: <Tobias Hassel> Date: <29.07.2019>
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/// Notes: <>
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///-----------------------------------------------------------------
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///
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using MLAgents;
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using OpenCvSharp;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class CozmoAgent : Agent
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namespace Cozmo
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{
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// Possible Actions
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private const int STOP = 0;
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private const int FORWARD = 1;
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private const int RIGHT = 2;
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private const int LEFT = 3;
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// Used to determine different areas in the image (near to the center, far away)
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private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.3f;
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[Tooltip("The virtual Cozmo camera")]
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public Camera renderCamera;
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[Tooltip("Reference to the CozmoMovement script")]
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public CozmoMovementController movementController;
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public float timeBetweenDecisionsAtInference;
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private Academy academy; // CozmoAcademy
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private float timeSinceDecision; // time since last decision
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private ImageProcessor imageProcessor; // reference to the ImageProcessor
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private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
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private int centerOfImageX = 0; // Middle of the image in x direction
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private MovementState lastChosenMovement = MovementState.Stop; // The last action/movement that was executed
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private double startTime = Time.time;
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private void Start()
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public class CozmoAgent : Agent
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{
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academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
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imageProcessor = renderCamera.GetComponent<ImageProcessor>();
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nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
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centerOfImageX = renderCamera.targetTexture.width / 2;
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}
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// Possible Actions
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private const int STOP = 0;
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private const int FORWARD = 1;
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private const int RIGHT = 2;
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private const int LEFT = 3;
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// Used to determine different areas in the image (near to the center, far away)
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private const float NEAR_AREA_PERCENTAGE_OFFSET = 0.3f;
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public void FixedUpdate()
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{
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WaitTimeInference();
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}
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[Tooltip("The virtual Cozmo camera")]
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public Camera renderCamera;
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[Tooltip("Reference to the CozmoMovement script")]
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public CozmoMovementController movementController;
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public float timeBetweenDecisionsAtInference;
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private Academy academy; // CozmoAcademy
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private float timeSinceDecision; // time since last decision
|
||||
private ImageProcessor imageProcessor; // reference to the ImageProcessor
|
||||
private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
|
||||
private int centerOfImageX = 0; // Middle of the image in x direction
|
||||
private MovementState lastChosenMovement = MovementState.Stop; // The last action/movement that was executed
|
||||
|
||||
public override void CollectObservations()
|
||||
{
|
||||
SetMask();
|
||||
}
|
||||
private double startTime = Time.time;
|
||||
|
||||
// Set ActionMask for training
|
||||
private void SetMask()
|
||||
{
|
||||
switch (lastChosenMovement)
|
||||
private void Start()
|
||||
{
|
||||
// Do not allow stop decision after a stop
|
||||
case (MovementState.Stop):
|
||||
SetActionMask(STOP);
|
||||
break;
|
||||
// Do not allow stop after forward
|
||||
case (MovementState.Forward):
|
||||
SetActionMask(STOP);
|
||||
break;
|
||||
// Do not allow stop & left after right
|
||||
case (MovementState.Right):
|
||||
SetActionMask(STOP);
|
||||
SetActionMask(LEFT);
|
||||
break;
|
||||
// Do not allow stop & right after left
|
||||
case (MovementState.Left):
|
||||
SetActionMask(STOP);
|
||||
SetActionMask(RIGHT);
|
||||
break;
|
||||
default:
|
||||
throw new ArgumentException("Invalid MovementState.");
|
||||
}
|
||||
}
|
||||
|
||||
// to be implemented by the developer
|
||||
public override void AgentAction(float[] vectorAction, string textAction)
|
||||
{
|
||||
double elapsedTime = Time.time - startTime;
|
||||
print("Elapsed time: " + elapsedTime);
|
||||
startTime = Time.time;
|
||||
|
||||
int action = Mathf.FloorToInt(vectorAction[0]);
|
||||
Point centerOfGravity = imageProcessor.CenterOfGravity;
|
||||
|
||||
AddReward(-0.01f);
|
||||
|
||||
switch (action)
|
||||
{
|
||||
case STOP:
|
||||
movementController.currentMovementState = MovementState.Stop;
|
||||
lastChosenMovement = MovementState.Stop;
|
||||
//Test
|
||||
SetReward(-0.1f);
|
||||
break;
|
||||
case FORWARD:
|
||||
movementController.currentMovementState = MovementState.Forward;
|
||||
lastChosenMovement = MovementState.Forward;
|
||||
//Test
|
||||
SetReward(0.01f);
|
||||
break;
|
||||
case RIGHT:
|
||||
movementController.currentMovementState = MovementState.Right;
|
||||
lastChosenMovement = MovementState.Right;
|
||||
//Test
|
||||
SetReward(-0.02f);
|
||||
break;
|
||||
case LEFT:
|
||||
movementController.currentMovementState = MovementState.Left;
|
||||
lastChosenMovement = MovementState.Left;
|
||||
//Test
|
||||
SetReward(-0.02f);
|
||||
break;
|
||||
default:
|
||||
//movement.Move(0);
|
||||
throw new ArgumentException("Invalid action value. Stop movement.");
|
||||
academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
|
||||
imageProcessor = renderCamera.GetComponent<ImageProcessor>();
|
||||
nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
|
||||
centerOfImageX = renderCamera.targetTexture.width / 2;
|
||||
}
|
||||
|
||||
// Render new image after movement in order to update the centerOfGravity
|
||||
if (renderCamera != null)
|
||||
|
||||
public void FixedUpdate()
|
||||
{
|
||||
renderCamera.Render();
|
||||
WaitTimeInference();
|
||||
}
|
||||
|
||||
RewardAgent();
|
||||
}
|
||||
|
||||
// Set the reward for the agent based on how far away the center of gravity is from the center of the image
|
||||
private void RewardAgent()
|
||||
{
|
||||
float centerOfGravityX = imageProcessor.CenterOfGravity.X;
|
||||
float reward = 0;
|
||||
|
||||
// Center of gravity is far away from the center (left)
|
||||
if (centerOfGravityX <= centerOfImageX - nearAreaLimit && centerOfGravityX >= 0)
|
||||
public override void CollectObservations()
|
||||
{
|
||||
float range = centerOfImageX - nearAreaLimit;
|
||||
reward = -(1 - (centerOfGravityX / range));
|
||||
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near left of the center
|
||||
else if ((centerOfGravityX <= centerOfImageX) && (centerOfGravityX >= (centerOfImageX - nearAreaLimit)))
|
||||
{
|
||||
float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
|
||||
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
|
||||
reward = (distanceToLeftFarBorder / range);
|
||||
}
|
||||
// Center of gravity is far away from the center (right)
|
||||
else if ((centerOfGravityX >= (centerOfImageX + nearAreaLimit)) && (centerOfGravityX <= renderCamera.targetTexture.width))
|
||||
{
|
||||
float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
|
||||
reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
|
||||
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near right of the center
|
||||
else if ((centerOfGravityX >= centerOfImageX) && (centerOfGravityX <= (centerOfImageX + nearAreaLimit)))
|
||||
{
|
||||
float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
|
||||
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
|
||||
reward = (1 - distanceToCenterOfImage / range);
|
||||
}
|
||||
else
|
||||
{
|
||||
SetReward(-1);
|
||||
AgentReset();
|
||||
Debug.Log("Out of image range");
|
||||
SetMask();
|
||||
}
|
||||
|
||||
Debug.Log("Reward: " + reward);
|
||||
SetReward(reward);
|
||||
}
|
||||
|
||||
// to be implemented by the developer
|
||||
public override void AgentReset()
|
||||
{
|
||||
academy.AcademyReset();
|
||||
}
|
||||
|
||||
|
||||
private void OnTriggerEnter(Collider other)
|
||||
{
|
||||
if (other.transform.CompareTag("Goal"))
|
||||
// Set ActionMask for training
|
||||
private void SetMask()
|
||||
{
|
||||
Done();
|
||||
}
|
||||
}
|
||||
|
||||
private void WaitTimeInference()
|
||||
{
|
||||
if (renderCamera != null)
|
||||
{
|
||||
renderCamera.Render();
|
||||
}
|
||||
|
||||
if (!academy.GetIsInference())
|
||||
{
|
||||
RequestDecision();
|
||||
}
|
||||
else
|
||||
{
|
||||
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
|
||||
switch (lastChosenMovement)
|
||||
{
|
||||
// Do not allow stop decision after a stop
|
||||
case (MovementState.Stop):
|
||||
SetActionMask(STOP);
|
||||
break;
|
||||
// Do not allow stop after forward
|
||||
case (MovementState.Forward):
|
||||
SetActionMask(STOP);
|
||||
break;
|
||||
// Do not allow stop & left after right
|
||||
case (MovementState.Right):
|
||||
SetActionMask(STOP);
|
||||
SetActionMask(LEFT);
|
||||
break;
|
||||
// Do not allow stop & right after left
|
||||
case (MovementState.Left):
|
||||
SetActionMask(STOP);
|
||||
SetActionMask(RIGHT);
|
||||
break;
|
||||
default:
|
||||
throw new ArgumentException("Invalid MovementState.");
|
||||
}
|
||||
}
|
||||
|
||||
// to be implemented by the developer
|
||||
public override void AgentAction(float[] vectorAction, string textAction)
|
||||
{
|
||||
double elapsedTime = Time.time - startTime;
|
||||
print("Elapsed time: " + elapsedTime);
|
||||
startTime = Time.time;
|
||||
|
||||
int action = Mathf.FloorToInt(vectorAction[0]);
|
||||
Point centerOfGravity = imageProcessor.CenterOfGravity;
|
||||
|
||||
AddReward(-0.01f);
|
||||
|
||||
switch (action)
|
||||
{
|
||||
case STOP:
|
||||
movementController.currentMovementState = MovementState.Stop;
|
||||
lastChosenMovement = MovementState.Stop;
|
||||
//Test
|
||||
SetReward(-0.1f);
|
||||
break;
|
||||
case FORWARD:
|
||||
movementController.currentMovementState = MovementState.Forward;
|
||||
lastChosenMovement = MovementState.Forward;
|
||||
//Test
|
||||
SetReward(0.01f);
|
||||
break;
|
||||
case RIGHT:
|
||||
movementController.currentMovementState = MovementState.Right;
|
||||
lastChosenMovement = MovementState.Right;
|
||||
//Test
|
||||
SetReward(-0.02f);
|
||||
break;
|
||||
case LEFT:
|
||||
movementController.currentMovementState = MovementState.Left;
|
||||
lastChosenMovement = MovementState.Left;
|
||||
//Test
|
||||
SetReward(-0.02f);
|
||||
break;
|
||||
default:
|
||||
//movement.Move(0);
|
||||
throw new ArgumentException("Invalid action value. Stop movement.");
|
||||
}
|
||||
|
||||
// Render new image after movement in order to update the centerOfGravity
|
||||
if (renderCamera != null)
|
||||
{
|
||||
renderCamera.Render();
|
||||
}
|
||||
|
||||
RewardAgent();
|
||||
}
|
||||
|
||||
// Set the reward for the agent based on how far away the center of gravity is from the center of the image
|
||||
private void RewardAgent()
|
||||
{
|
||||
float centerOfGravityX = imageProcessor.CenterOfGravity.X;
|
||||
float reward = 0;
|
||||
|
||||
// Center of gravity is far away from the center (left)
|
||||
if (centerOfGravityX <= centerOfImageX - nearAreaLimit && centerOfGravityX >= 0)
|
||||
{
|
||||
float range = centerOfImageX - nearAreaLimit;
|
||||
reward = -(1 - (centerOfGravityX / range));
|
||||
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near left of the center
|
||||
else if ((centerOfGravityX <= centerOfImageX) && (centerOfGravityX >= (centerOfImageX - nearAreaLimit)))
|
||||
{
|
||||
float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
|
||||
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
|
||||
reward = (distanceToLeftFarBorder / range);
|
||||
}
|
||||
// Center of gravity is far away from the center (right)
|
||||
else if ((centerOfGravityX >= (centerOfImageX + nearAreaLimit)) && (centerOfGravityX <= renderCamera.targetTexture.width))
|
||||
{
|
||||
float range = renderCamera.targetTexture.width - (centerOfImageX + nearAreaLimit);
|
||||
reward = -(((centerOfGravityX - (centerOfImageX + nearAreaLimit)) / range));
|
||||
// Clamp the reward to max -1 in order to handle rewards if the center of gravity is outside of the image
|
||||
reward = Mathf.Clamp(reward, -1, 0) / 2;
|
||||
}
|
||||
// Center of gravity is near right of the center
|
||||
else if ((centerOfGravityX >= centerOfImageX) && (centerOfGravityX <= (centerOfImageX + nearAreaLimit)))
|
||||
{
|
||||
float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
|
||||
float distanceToCenterOfImage = centerOfGravityX - centerOfImageX;
|
||||
reward = (1 - distanceToCenterOfImage / range);
|
||||
}
|
||||
else
|
||||
{
|
||||
SetReward(-1);
|
||||
AgentReset();
|
||||
Debug.Log("Out of image range");
|
||||
}
|
||||
|
||||
Debug.Log("Reward: " + reward);
|
||||
SetReward(reward);
|
||||
}
|
||||
|
||||
// to be implemented by the developer
|
||||
public override void AgentReset()
|
||||
{
|
||||
academy.AcademyReset();
|
||||
}
|
||||
|
||||
|
||||
private void OnTriggerEnter(Collider other)
|
||||
{
|
||||
if (other.transform.CompareTag("Goal"))
|
||||
{
|
||||
Done();
|
||||
}
|
||||
}
|
||||
|
||||
private void WaitTimeInference()
|
||||
{
|
||||
if (renderCamera != null)
|
||||
{
|
||||
renderCamera.Render();
|
||||
}
|
||||
|
||||
if (!academy.GetIsInference())
|
||||
{
|
||||
timeSinceDecision = 0f;
|
||||
RequestDecision();
|
||||
}
|
||||
else
|
||||
{
|
||||
timeSinceDecision += Time.fixedDeltaTime;
|
||||
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
|
||||
{
|
||||
timeSinceDecision = 0f;
|
||||
RequestDecision();
|
||||
}
|
||||
else
|
||||
{
|
||||
timeSinceDecision += Time.fixedDeltaTime;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
@ -1,101 +1,120 @@
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
///-----------------------------------------------------------------
|
||||
/// Namespace: <Cozmo>
|
||||
/// Class: <CozmoMovement>
|
||||
/// Description: <Defines the possible movement of the virtual cozmo.>
|
||||
/// Author: <Tobias Hassel> Date: <29.07.2019>
|
||||
/// Notes: <>
|
||||
///-----------------------------------------------------------------
|
||||
///
|
||||
|
||||
|
||||
using UnityEngine;
|
||||
|
||||
public class CozmoMovement : MonoBehaviour
|
||||
namespace Cozmo
|
||||
{
|
||||
|
||||
public float m_Speed = 12f; // How fast the tank moves forward and back.
|
||||
public float m_TurnSpeed = 180f; // How fast the tank turns in degrees per second.
|
||||
|
||||
|
||||
private string m_MovementAxisName; // The name of the input axis for moving forward and back.
|
||||
private string m_TurnAxisName; // The name of the input axis for turning.
|
||||
private Rigidbody m_Rigidbody; // Reference used to move the tank.
|
||||
private float m_MovementInputValue; // The current value of the movement input.
|
||||
private float m_TurnInputValue; // The current value of the turn input.
|
||||
|
||||
|
||||
private void Awake()
|
||||
public class CozmoMovement : MonoBehaviour
|
||||
{
|
||||
m_Rigidbody = GetComponent<Rigidbody>();
|
||||
private const string MOVEMENT_AXIS_NAME = "Vertical"; // name of the movement input axis
|
||||
private const string TURN_AXIS_NAME = "Horizontal"; // name of the rotation input axis
|
||||
|
||||
[Tooltip("Determines how fast the robot is moving forward and backwards.")]
|
||||
public float m_Speed = 12f;
|
||||
[Tooltip("Determines how fast the robot is turning in degrees per second.")]
|
||||
public float m_TurnSpeed = 180f;
|
||||
|
||||
private Rigidbody cozmoRigidbody; // Reference to cozmos rigidbody
|
||||
private float m_MovementInputValue; // current input value for movement
|
||||
private float m_TurnInputValue; // current input value for rotation
|
||||
|
||||
|
||||
private void Awake()
|
||||
{
|
||||
cozmoRigidbody = GetComponent<Rigidbody>();
|
||||
}
|
||||
|
||||
|
||||
private void OnEnable()
|
||||
{
|
||||
// When the cozmo is turned on, make sure it's not kinematic.
|
||||
cozmoRigidbody.isKinematic = false;
|
||||
|
||||
// reset movement and rotation values
|
||||
m_MovementInputValue = 0f;
|
||||
m_TurnInputValue = 0f;
|
||||
}
|
||||
|
||||
|
||||
private void OnDisable()
|
||||
{
|
||||
// When the cozmo is turned off, set it to kinematic so it stops moving.
|
||||
cozmoRigidbody.isKinematic = true;
|
||||
}
|
||||
|
||||
|
||||
private void Update()
|
||||
{
|
||||
// Store the value of both input axes.
|
||||
m_MovementInputValue = Input.GetAxis(MOVEMENT_AXIS_NAME);
|
||||
m_TurnInputValue = Input.GetAxis(TURN_AXIS_NAME);
|
||||
}
|
||||
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
// Adjust position and rotation
|
||||
Move();
|
||||
Turn();
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Move the cozmo forward (0 < directionValue <= 1) or backwards (0 > directionvalue >= -1)
|
||||
/// </summary>
|
||||
/// <param name="directionValue"></param>
|
||||
public void Move(float directionValue)
|
||||
{
|
||||
// clamp directionValue to make sure its between -1 and 1
|
||||
Mathf.Clamp(directionValue, -1, 1);
|
||||
|
||||
Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
|
||||
|
||||
// Apply this movement to the rigidbody's position.
|
||||
cozmoRigidbody.MovePosition(cozmoRigidbody.position + movement);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Move cozmo based on the input value
|
||||
/// </summary>
|
||||
public void Move()
|
||||
{
|
||||
Move(m_MovementInputValue);
|
||||
}
|
||||
|
||||
|
||||
/// <summary>
|
||||
/// Rotate cozmo based on the input value
|
||||
/// </summary>
|
||||
public void Turn()
|
||||
{
|
||||
Turn(m_TurnInputValue);
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// Rotate cozmo
|
||||
/// </summary>
|
||||
/// <param name="turnValue"></param>
|
||||
public void Turn(float turnValue)
|
||||
{
|
||||
// clamp turnValue to make sure its between -1 and 1
|
||||
Mathf.Clamp(turnValue, -1, 1);
|
||||
|
||||
float turn = turnValue * m_TurnSpeed * Time.deltaTime;
|
||||
|
||||
// Make this into a rotation in the y axis.
|
||||
Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
|
||||
|
||||
// Apply this rotation to the rigidbody's rotation.
|
||||
cozmoRigidbody.MoveRotation(cozmoRigidbody.rotation * turnRotation);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
private void OnEnable()
|
||||
{
|
||||
// When the cozmo is turned on, make sure it's not kinematic.
|
||||
m_Rigidbody.isKinematic = false;
|
||||
|
||||
// Also reset the input values.
|
||||
m_MovementInputValue = 0f;
|
||||
m_TurnInputValue = 0f;
|
||||
}
|
||||
|
||||
|
||||
private void OnDisable()
|
||||
{
|
||||
// When the cozmo is turned off, set it to kinematic so it stops moving.
|
||||
m_Rigidbody.isKinematic = true;
|
||||
}
|
||||
|
||||
|
||||
private void Start()
|
||||
{
|
||||
m_MovementAxisName = "Vertical";
|
||||
m_TurnAxisName = "Horizontal";
|
||||
}
|
||||
|
||||
|
||||
private void Update()
|
||||
{
|
||||
// Store the value of both input axes.
|
||||
m_MovementInputValue = Input.GetAxis(m_MovementAxisName);
|
||||
m_TurnInputValue = Input.GetAxis(m_TurnAxisName);
|
||||
}
|
||||
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
// Adjust the rigidbodies position and orientation in FixedUpdate.
|
||||
Move();
|
||||
Turn();
|
||||
}
|
||||
|
||||
public void Move(float directionValue)
|
||||
{
|
||||
// Create a vector in the direction the cozmo is facing with a magnitude based on the input, speed and the time between frames.
|
||||
Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
|
||||
|
||||
// Apply this movement to the rigidbody's position.
|
||||
m_Rigidbody.MovePosition(m_Rigidbody.position + movement);
|
||||
}
|
||||
|
||||
public void Move()
|
||||
{
|
||||
Move(m_MovementInputValue);
|
||||
}
|
||||
|
||||
//public void Move(float[] act)
|
||||
//{
|
||||
|
||||
//}
|
||||
|
||||
public void Turn()
|
||||
{
|
||||
Turn(m_TurnInputValue);
|
||||
}
|
||||
|
||||
public void Turn(float turnValue)
|
||||
{
|
||||
// Determine the number of degrees to be turned based on the input, speed and time between frames.
|
||||
float turn = turnValue * m_TurnSpeed * Time.deltaTime;
|
||||
|
||||
// Make this into a rotation in the y axis.
|
||||
Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
|
||||
|
||||
// Apply this rotation to the rigidbody's rotation.
|
||||
m_Rigidbody.MoveRotation(m_Rigidbody.rotation * turnRotation);
|
||||
}
|
||||
|
||||
}
|
||||
|
@ -1,45 +1,55 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
///-----------------------------------------------------------------
|
||||
/// Namespace: <Cozmo>
|
||||
/// Class: <CozmoMovementController>
|
||||
/// Description: <Statemachine to control the movement of the virtual cozmo.>
|
||||
/// Author: <Tobias Hassel> Date: <29.07.2019>
|
||||
/// Notes: <>
|
||||
///-----------------------------------------------------------------
|
||||
///
|
||||
|
||||
using System;
|
||||
using UnityEngine;
|
||||
|
||||
public enum MovementState { Stop, Forward, Right, Left }
|
||||
|
||||
[RequireComponent(typeof(CozmoMovement))]
|
||||
public class CozmoMovementController : MonoBehaviour
|
||||
namespace Cozmo
|
||||
{
|
||||
[Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
|
||||
public MovementState currentMovementState = MovementState.Stop;
|
||||
// Different movementstates cozmo can use
|
||||
public enum MovementState { Stop, Forward, Right, Left }
|
||||
|
||||
private CozmoMovement movement; // Movement script of the robot
|
||||
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
[RequireComponent(typeof(CozmoMovement))]
|
||||
public class CozmoMovementController : MonoBehaviour
|
||||
{
|
||||
movement = GetComponent<CozmoMovement>();
|
||||
}
|
||||
[Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
|
||||
public MovementState currentMovementState = MovementState.Stop;
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
switch (currentMovementState)
|
||||
private CozmoMovement movement; // Movement script of the robot
|
||||
|
||||
|
||||
void Start()
|
||||
{
|
||||
case MovementState.Stop:
|
||||
movement.Move(0);
|
||||
break;
|
||||
case MovementState.Forward:
|
||||
movement.Move(1);
|
||||
break;
|
||||
case MovementState.Right:
|
||||
movement.Turn(1);
|
||||
break;
|
||||
case MovementState.Left:
|
||||
movement.Turn(-1);
|
||||
break;
|
||||
default:
|
||||
movement.Move(0);
|
||||
throw new ArgumentException("No real Movementstate was given. Default 'Stop' was chosen.");
|
||||
movement = GetComponent<CozmoMovement>();
|
||||
}
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
switch (currentMovementState)
|
||||
{
|
||||
case MovementState.Stop:
|
||||
movement.Move(0);
|
||||
break;
|
||||
case MovementState.Forward:
|
||||
movement.Move(1);
|
||||
break;
|
||||
case MovementState.Right:
|
||||
movement.Turn(1);
|
||||
break;
|
||||
case MovementState.Left:
|
||||
movement.Turn(-1);
|
||||
break;
|
||||
default:
|
||||
movement.Move(0);
|
||||
throw new ArgumentException("No real Movementstate was given. Default 'Stop' was chosen.");
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -1,113 +1,126 @@
|
||||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
///-----------------------------------------------------------------
|
||||
/// Namespace: <CozmoHelpers>
|
||||
/// Class: <CozmoMovementTester>
|
||||
/// Description: <Used to measure the time for rotating and moving the virtual cozmo to copy the
|
||||
/// real cozmos movement behaviour.>
|
||||
/// Author: <Tobias Hassel> Date: <29.07.2019>
|
||||
/// Notes: <>
|
||||
///-----------------------------------------------------------------
|
||||
///
|
||||
|
||||
using Cozmo;
|
||||
using System.Diagnostics;
|
||||
using UnityEngine;
|
||||
|
||||
public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
|
||||
|
||||
[RequireComponent(typeof(CozmoMovement))]
|
||||
public class CozmoMovementTester : MonoBehaviour
|
||||
namespace CozmoHelpers
|
||||
{
|
||||
public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
|
||||
|
||||
private const float DISTANCE_TO_MEASURE_SPEED = 1f; // Distance that is used to calculate cozmos movementspeed (in m)
|
||||
private const float ROTATION_ANGLE = 90f; // Angle that is used to calculate cozmos rotationspeed
|
||||
|
||||
private CozmoMovement movement; // Reference to the movement script of cozmo
|
||||
private Vector3 startPositionCozmo; // Original position of cozmo
|
||||
private float lastY; // Last Y of cozmo
|
||||
private Stopwatch movementWatch; // Stopwatch to measure the time for the movement usecase
|
||||
private Stopwatch rotationWatch; // Stopwatch to measure the time for the rotation usecase
|
||||
|
||||
[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
|
||||
public TestStates testState = TestStates.MovementSpeed;
|
||||
|
||||
[Tooltip("Start and stop testing")]
|
||||
public bool isTesting = false;
|
||||
|
||||
|
||||
void Start()
|
||||
{
|
||||
movement = GetComponent<CozmoMovement>();
|
||||
movementWatch = new Stopwatch();
|
||||
rotationWatch = new Stopwatch();
|
||||
|
||||
|
||||
startPositionCozmo = movement.transform.position; // Cache the starting position of Cozmo
|
||||
lastY = movement.transform.rotation.y; // Cache the rotation Vector of Cozmo
|
||||
}
|
||||
|
||||
private void FixedUpdate()
|
||||
{
|
||||
if (isTesting)
|
||||
{
|
||||
if (testState == TestStates.MovementSpeed)
|
||||
{
|
||||
TestMovementSpeed();
|
||||
}
|
||||
else if (testState == TestStates.RotationSpeed)
|
||||
{
|
||||
TestRotationSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void TestRotationSpeed()
|
||||
[RequireComponent(typeof(CozmoMovement))]
|
||||
public class CozmoMovementTester : MonoBehaviour
|
||||
{
|
||||
|
||||
float currentY = movement.transform.rotation.eulerAngles.y;
|
||||
private const float DISTANCE_TO_MEASURE_SPEED = 1f; // Distance that is used to calculate cozmos movementspeed (in m)
|
||||
private const float ROTATION_ANGLE = 90f; // Angle that is used to calculate cozmos rotationspeed
|
||||
|
||||
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
|
||||
if (currentY >= lastY + ROTATION_ANGLE || currentY <= lastY - ROTATION_ANGLE)
|
||||
private CozmoMovement movement; // Reference to the movement script of cozmo
|
||||
private Vector3 startPositionCozmo; // Original position of cozmo
|
||||
private float lastY; // Last Y of cozmo
|
||||
private Stopwatch movementWatch; // Stopwatch to measure the time for the movement usecase
|
||||
private Stopwatch rotationWatch; // Stopwatch to measure the time for the rotation usecase
|
||||
|
||||
[Tooltip("Choose which speed of the virtual cozmo should be tested.")]
|
||||
public TestStates testState = TestStates.MovementSpeed;
|
||||
|
||||
[Tooltip("Start and stop testing from the inspector.")]
|
||||
public bool isTesting = false;
|
||||
|
||||
|
||||
void Start()
|
||||
{
|
||||
if (rotationWatch.IsRunning)
|
||||
{
|
||||
rotationWatch.Stop();
|
||||
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
|
||||
"\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
|
||||
}
|
||||
movement = GetComponent<CozmoMovement>();
|
||||
movementWatch = new Stopwatch();
|
||||
rotationWatch = new Stopwatch();
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
|
||||
startPositionCozmo = movement.transform.position; // Cache the starting position of Cozmo
|
||||
lastY = movement.transform.rotation.y; // Cache the rotation Vector of Cozmo
|
||||
}
|
||||
else
|
||||
{
|
||||
// Start stopwatch to measure the time cozmo needs for a specific rotation
|
||||
if (!rotationWatch.IsRunning)
|
||||
{
|
||||
rotationWatch = Stopwatch.StartNew();
|
||||
}
|
||||
|
||||
// Turn right
|
||||
movement.Turn(1);
|
||||
private void FixedUpdate()
|
||||
{
|
||||
if (isTesting)
|
||||
{
|
||||
if (testState == TestStates.MovementSpeed)
|
||||
{
|
||||
TestMovementSpeed();
|
||||
}
|
||||
else if (testState == TestStates.RotationSpeed)
|
||||
{
|
||||
TestRotationSpeed();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void TestMovementSpeed()
|
||||
{
|
||||
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
|
||||
if (Vector3.Distance(startPositionCozmo, movement.transform.position) >= DISTANCE_TO_MEASURE_SPEED)
|
||||
// Measure time for rotation
|
||||
private void TestRotationSpeed()
|
||||
{
|
||||
if (movementWatch.IsRunning)
|
||||
{
|
||||
movementWatch.Stop();
|
||||
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
|
||||
"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
|
||||
}
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
float currentY = movement.transform.rotation.eulerAngles.y;
|
||||
|
||||
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
|
||||
if (currentY >= lastY + ROTATION_ANGLE || currentY <= lastY - ROTATION_ANGLE)
|
||||
{
|
||||
if (rotationWatch.IsRunning)
|
||||
{
|
||||
rotationWatch.Stop();
|
||||
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
|
||||
"\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
|
||||
}
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Start stopwatch to measure the time cozmo needs for a specific rotation
|
||||
if (!rotationWatch.IsRunning)
|
||||
{
|
||||
rotationWatch = Stopwatch.StartNew();
|
||||
}
|
||||
|
||||
// Turn right
|
||||
movement.Turn(1);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Start stopwatch to measure the time cozmo needs for a specific distance
|
||||
if (!movementWatch.IsRunning)
|
||||
{
|
||||
movementWatch = Stopwatch.StartNew();
|
||||
}
|
||||
|
||||
// Move cozmo in forward direction
|
||||
movement.Move(1);
|
||||
// Measure time for movement
|
||||
private void TestMovementSpeed()
|
||||
{
|
||||
// If distance between start and current position of cozmo reached the DISTANCE_TO_MEASURE_SPEED stop the stopwatch
|
||||
if (Vector3.Distance(startPositionCozmo, movement.transform.position) >= DISTANCE_TO_MEASURE_SPEED)
|
||||
{
|
||||
if (movementWatch.IsRunning)
|
||||
{
|
||||
movementWatch.Stop();
|
||||
UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
|
||||
"/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
|
||||
}
|
||||
|
||||
isTesting = false;
|
||||
return;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Start stopwatch to measure the time cozmo needs for a specific distance
|
||||
if (!movementWatch.IsRunning)
|
||||
{
|
||||
movementWatch = Stopwatch.StartNew();
|
||||
}
|
||||
|
||||
// Move cozmo in forward direction
|
||||
movement.Move(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -1,23 +1,35 @@
|
||||
using System.Collections;
|
||||
///-----------------------------------------------------------------
|
||||
/// Namespace: <CozmoHelpers>
|
||||
/// Class: <SceneHelper>
|
||||
/// Description: <Used to deactivate specific objects that are only used in the sceneview not in the gameview>
|
||||
/// Author: <Tobias Hassel> Date: <29.07.2019>
|
||||
/// Notes: <>
|
||||
///-----------------------------------------------------------------
|
||||
///
|
||||
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class SceneHelper : MonoBehaviour
|
||||
namespace CozmoHelpers
|
||||
{
|
||||
[Tooltip("All the objects in this list will be deactivated/activated when the game is running")]
|
||||
public List<GameObject> toggleInPlayMode;
|
||||
|
||||
|
||||
public void Awake()
|
||||
public class SceneHelper : MonoBehaviour
|
||||
{
|
||||
ToggleObjectList();
|
||||
}
|
||||
[Tooltip("All the objects in this list will be deactivated/activated when the game is running")]
|
||||
public List<GameObject> toggleInPlayMode;
|
||||
|
||||
private void ToggleObjectList()
|
||||
{
|
||||
foreach (GameObject go in toggleInPlayMode)
|
||||
|
||||
public void Awake()
|
||||
{
|
||||
go.SetActive(!go.activeSelf);
|
||||
ToggleObjectList();
|
||||
}
|
||||
|
||||
// Deactivate/Activate all gameObjects referenced in the toggleInPlayMode list
|
||||
private void ToggleObjectList()
|
||||
{
|
||||
foreach (GameObject go in toggleInPlayMode)
|
||||
{
|
||||
go.SetActive(!go.activeSelf);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
Loading…
x
Reference in New Issue
Block a user