hasselto66176/BachelorarbeitCozmo
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Tobi 2019-08-17 14:45:12 +02:00
parent 021662632e
commit 1f12d31c0b
2 changed files with 2 additions and 2 deletions
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2
Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs
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@ -145,7 +145,7 @@ namespace Cozmo
// Convert OpenCVSharp Mat object to Unity Texture2D object // Convert OpenCVSharp Mat object to Unity Texture2D object
private void MatToTexture(Mat mat) private void MatToTexture(Mat mat)
{ {
// cannyImageData is byte array, because canny image is grayscale // cannyImageData is byte array, because canny image is binary
mat.GetArray(0, 0, cannyImageData); mat.GetArray(0, 0, cannyImageData);
// create Color32 array that can be assigned to Texture2D directly // create Color32 array that can be assigned to Texture2D directly
Color32[] c = new Color32[croppedImHeight * imWidth]; Color32[] c = new Color32[croppedImHeight * imWidth];

2
Assets/Scripts/ML Cozmo/CozmoAgent.cs
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@ -152,7 +152,7 @@ namespace Cozmo
{ {
float range = centerOfImageX - nearAreaLimit; float range = centerOfImageX - nearAreaLimit;
reward = -(1 - (centerOfGravityX / range)); 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 // Clamp the reward to max -1 and divide it by 2
reward = Mathf.Clamp(reward, -1, 0) / 2; reward = Mathf.Clamp(reward, -1, 0) / 2;
} }
// Center of gravity is near left of the center // Center of gravity is near left of the center