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New Reward function and MovementController

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This commit is contained in:
Tobi 2019-05-23 17:28:37 +02:00
parent 411338a35d
commit 221ffb54dc
5 changed files with 156 additions and 193 deletions
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15
Assets/Scenes/CozmoTraining.unity
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@ -1899,7 +1899,7 @@ MonoBehaviour:
onDemandDecision: 1
numberOfActionsBetweenDecisions: 1
renderCamera: {fileID: 891713640}
movement: {fileID: 7570006596986120128}
movementController: {fileID: 7570006596986120130}
timeBetweenDecisionsAtInference: 0.15
--- !u!65 &7570006596986120126
BoxCollider:
@ -1958,3 +1958,16 @@ MonoBehaviour:
m_EditorClassIdentifier:
testState: 1
isTesting: 0
--- !u!114 &7570006596986120130
MonoBehaviour:
m_ObjectHideFlags: 0
m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 7570006596986120123}
m_Enabled: 1
m_EditorHideFlags: 0
m_Script: {fileID: 11500000, guid: d3ecda30187828846b48edbee97aebd7, type: 3}
m_Name:
m_EditorClassIdentifier:
currentMovementState: 0

195
Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs
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@ -22,10 +22,10 @@ public class ImageProcessor : MonoBehaviour
public Point CenterOfGravity { get; private set; }
// OpenCVSharp parameters
private Mat videoSourceImage;
private Mat cozmoImageMat;
private Mat cannyImage;
private Texture2D processedTexture;
private Vec3b[] videoSourceImageData;
private Texture2D finalProcessedCozmoTexture;
private Vec3b[] cozmoImageData;
private byte[] cannyImageData;
@ -34,8 +34,7 @@ public class ImageProcessor : MonoBehaviour
private int croppedImHeight = 120; // Height of the cropped camera image from the virtual cozmo
private Camera textureCamera; // Virtual Cozmo camera
private Texture2D firstTexture;
private Texture2D originalCozmoTexture;
private void Start()
@ -46,21 +45,19 @@ public class ImageProcessor : MonoBehaviour
// Set image widths and heights based on the given RenderTextures
imWidth = textureCamera.targetTexture.width;
imHeight = textureCamera.targetTexture.height;
//croppedImHeight = renderTextureCropped.height;
//assign the processed targetTexture to the renderer to display the image
// assign the processed targetTexture to the renderer to display the image
processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
processedImageRendererCropped.material.mainTexture = renderTextureCropped;
// initialize video / image with given size
videoSourceImage = new Mat(imHeight, imWidth, MatType.CV_8UC3);
videoSourceImageData = new Vec3b[imHeight * imWidth];
cozmoImageMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
cozmoImageData = new Vec3b[imHeight * imWidth];
cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
cannyImageData = new byte[croppedImHeight * imWidth];
firstTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
processedTexture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
originalCozmoTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
finalProcessedCozmoTexture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
}
///// <summary>
@ -68,63 +65,16 @@ public class ImageProcessor : MonoBehaviour
///// </summary>
///// <param name="source"></param>
///// <param name="destination"></param>
//private void OnRenderImage(RenderTexture source, RenderTexture destination)
//{
// Texture2D tex = RenderTextureToTexture2D(source);
// videoSourceImage = TextureToMat(tex);
// cannyImage = ProcessImage(videoSourceImage);
// cannyImage = CropImage(cannyImage);
// CenterOfGravityTest(cannyImage);
// processedTexture = MatToTexture(cannyImage);
// //processedTexture.Resize(80, 30);
// //processedTexture.Apply();
// //Graphics.Blit(processedTexture, destination);
// Graphics.Blit(processedTexture, renderTextureCropped);
//}
public void ProcessRenderTexture(RenderTexture source)
{
ProcessRenderTexture(source, source);
}
public void ProcessRenderTexture(RenderTexture source, RenderTexture target)
{
Texture2D tex = RenderTextureToTexture2D(source);
videoSourceImage = TextureToMat(tex);
cannyImage = ProcessImage(videoSourceImage);
cannyImage = CropImage(cannyImage);
CenterOfGravityTest(cannyImage);
processedTexture = MatToTexture(cannyImage);
//processedTexture.Resize(80, 30);
//processedTexture.Apply();
//Graphics.Blit(processedTexture, destination);
Graphics.Blit(processedTexture, target);
}
//public void ProcessRenderTexture_NEW(RenderTexture source, RenderTexture target)
//{
// RenderTextureToTexture2D_NEW(source);
// TextureToMat_NEW(firstTexture);
// ProcessImage_NEW(videoSourceImage);
// cannyImage = CropImage(cannyImage);
// CenterOfGravityTest(cannyImage);
// MatToTexture_NEW(cannyImage);
// //processedTexture.Resize(80, 30);
// //processedTexture.Apply();
// //Graphics.Blit(processedTexture, destination);
// Graphics.Blit(processedTexture, target);
//}
public void OnRenderImage(RenderTexture source, RenderTexture destination)
{
RenderTextureToTexture2D_NEW(source);
TextureToMat_NEW(firstTexture);
ProcessImage_NEW(videoSourceImage);
RenderTextureToTexture2D(source);
TextureToMat(originalCozmoTexture);
ProcessImage(cozmoImageMat);
cannyImage = CropImage(cannyImage);
CenterOfGravityTest(cannyImage);
MatToTexture_NEW(cannyImage);
Graphics.Blit(processedTexture, destination);
Graphics.Blit(processedTexture, renderTextureCropped);
FindCenterOfGravity(cannyImage);
MatToTexture(cannyImage);
Graphics.Blit(finalProcessedCozmoTexture, destination);
Graphics.Blit(finalProcessedCozmoTexture, renderTextureCropped);
}
// Crop image to just see the middle of the original image
@ -136,33 +86,16 @@ public class ImageProcessor : MonoBehaviour
return croppedImage;
}
//// Crop image to just see the middle of the original image
//private Mat CropImage_NEW(Mat image)
//{
// //cut a fourth out of the top and bottom of the image
// OpenCvSharp.Rect rectCroped = new OpenCvSharp.Rect(0, image.Height / 4, image.Width, image.Height / 2);
// Mat croppedImage = new Mat(image, rectCroped);
// return croppedImage;
//}
private Texture2D RenderTextureToTexture2D(RenderTexture rTex)
{
Texture2D tex = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
RenderTexture.active = rTex;
tex.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
tex.Apply();
return tex;
}
private void RenderTextureToTexture2D_NEW(RenderTexture rTex)
private void RenderTextureToTexture2D(RenderTexture rTex)
{
RenderTexture.active = rTex;
firstTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
firstTexture.Apply();
originalCozmoTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
originalCozmoTexture.Apply();
}
// Convert Unity Texture2D object to OpenCVSharp Mat object
private Mat TextureToMat(Texture2D source)
private void TextureToMat(Texture2D source)
{
// Color32 array : r, g, b, a
Color32[] c = source.GetPixels32();
@ -182,94 +115,24 @@ public class ImageProcessor : MonoBehaviour
Item2 = col.r
};
// set pixel to an array
videoSourceImageData[j + i * imWidth] = vec3;
cozmoImageData[j + i * imWidth] = vec3;
}
});
// assign the Vec3b array to Mat
Mat tmpMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
tmpMat.SetArray(0, 0, videoSourceImageData);
return tmpMat;
cozmoImageMat.SetArray(0, 0, cozmoImageData);
}
// Convert Unity Texture2D object to OpenCVSharp Mat object
private void TextureToMat_NEW(Texture2D source)
{
// Color32 array : r, g, b, a
Color32[] c = source.GetPixels32();
// Parallel for loop
// convert Color32 object to Vec3b object
// Vec3b is the representation of pixel for Mat
Parallel.For(0, imHeight, i =>
{
for (var j = 0; j < imWidth; j++)
{
var col = c[j + i * imWidth];
var vec3 = new Vec3b
{
Item0 = col.b,
Item1 = col.g,
Item2 = col.r
};
// set pixel to an array
videoSourceImageData[j + i * imWidth] = vec3;
}
});
// assign the Vec3b array to Mat
videoSourceImage.SetArray(0, 0, videoSourceImageData);
}
// Simple example of canny edge detect
private Mat ProcessImage(Mat _image)
{
Mat cannyImg = new Mat();
Cv2.Canny(_image, cannyImg, 100, 100);
return cannyImg;
}
// Simple example of canny edge detect
private void ProcessImage_NEW(Mat _image)
private void ProcessImage(Mat _image)
{
Cv2.Canny(_image, cannyImage, 100, 100);
}
// Convert OpenCVSharp Mat object to Unity Texture2D object
private Texture2D MatToTexture(Mat mat)
{
// cannyImageData is byte array, because canny image is grayscale
mat.GetArray(0, 0, cannyImageData);
// create Color32 array that can be assigned to Texture2D directly
Color32[] c = new Color32[croppedImHeight * imWidth];
// parallel for loop
Parallel.For(0, croppedImHeight, i =>
{
for (var j = 0; j < imWidth; j++)
{
byte vec = cannyImageData[j + i * imWidth];
var color32 = new Color32
{
r = vec,
g = vec,
b = vec,
a = 0
};
c[j + i * imWidth] = color32;
}
});
Texture2D texture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
texture.SetPixels32(c);
// to update the texture, OpenGL manner
texture.Apply();
return texture;
}
// Convert OpenCVSharp Mat object to Unity Texture2D object
private void MatToTexture_NEW(Mat mat)
private void MatToTexture(Mat mat)
{
// cannyImageData is byte array, because canny image is grayscale
mat.GetArray(0, 0, cannyImageData);
@ -294,13 +157,13 @@ public class ImageProcessor : MonoBehaviour
});
processedTexture.SetPixels32(c);
// to update the texture, OpenGL manner
processedTexture.Apply();
finalProcessedCozmoTexture.SetPixels32(c);
// update texture
finalProcessedCozmoTexture.Apply();
}
private void CenterOfGravityTest(Mat processedImage)
// Find the Center of Gravity in the image
private void FindCenterOfGravity(Mat processedImage)
{
// find moments of the image
Moments m = new Moments(processedImage, true);

83
Assets/Scripts/ML Cozmo/CozmoAgent.cs
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@ -19,32 +19,32 @@ public class CozmoAgent : Agent
[Tooltip("The virtual Cozmo camera")]
public Camera renderCamera;
//[Tooltip("Final cropped and scaled rendertexture")]
//public RenderTexture renderTextureScaled;
[Tooltip("Reference to the CozmoMovement script")]
public CozmoMovement movement;
public CozmoMovementController movementController;
public float timeBetweenDecisionsAtInference;
private Academy academy; // CozmoAcademy
private float timeSinceDecision; // time since last decision
private ImageProcessor onRenderImageTest; // reference to the ImageProcessor
private ImageProcessor imageProcessor; // reference to the ImageProcessor
private int nearAreaLimit = 0; // X coordinate limit for the near to the imagecenter area
private int farAreaLimit = 0; // X coordinate limit for the far away to the imagecenter area
// for testing
//private float[] floats = { 1.0f, 2.0f, 3.0f };
private void Start()
{
academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
onRenderImageTest = renderCamera.GetComponent<ImageProcessor>();
imageProcessor = renderCamera.GetComponent<ImageProcessor>();
nearAreaLimit = (int)(renderCamera.targetTexture.width / 2 * NEAR_AREA_PERCENTAGE_OFFSET);
farAreaLimit = (int)(renderCamera.targetTexture.width / 2 * FAR_AREA_PERCENTAGE_OFFSET);
}
public void FixedUpdate()
{
WaitTimeInference();
// for testing
//AgentAction(floats, "ActionText");
}
@ -53,7 +53,7 @@ public class CozmoAgent : Agent
{
//print("Action before FloorToInt: " + vectorAction[0]);
int action = Mathf.FloorToInt(vectorAction[0]);
Point centerOfGravity = onRenderImageTest.CenterOfGravity;
Point centerOfGravity = imageProcessor.CenterOfGravity;
//Vector3 targetPos = transform.position;
//print("Action after FloorToInt: " + action);
@ -63,16 +63,16 @@ public class CozmoAgent : Agent
switch (action)
{
case STOP:
movement.Move(0);
movementController.currentMovementState = MovementState.Stop;
break;
case FORWARD:
movement.Move(1);
movementController.currentMovementState = MovementState.Forward;
break;
case RIGHT:
movement.Turn(1);
movementController.currentMovementState = MovementState.Right;
break;
case LEFT:
movement.Turn(-1);
movementController.currentMovementState = MovementState.Left;
break;
default:
//movement.Move(0);
@ -83,28 +83,61 @@ public class CozmoAgent : Agent
if (renderCamera != null)
{
renderCamera.Render();
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
}
RewardAgent();
imageProcessor.enabled = false;
}
// If centerOfGravity lies near to the center of the image horizontally
if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - nearAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + nearAreaLimit)
/// <summary>
/// TODO: Cleanup code
/// </summary>
private void RewardAgent()
{
float centerOfImageX = renderCamera.targetTexture.width / 2;
float centerOfGravityX = imageProcessor.CenterOfGravity.X;
float reward = 0;
// Center of gravity is far left of the center
if (centerOfGravityX <= centerOfImageX - farAreaLimit)
{
SetReward(1);
print("Reward: +1");
reward = -1;
}
else if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - farAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + farAreaLimit)
// Center of gravity is between far and near left of the center
else if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
{
SetReward(-0.3f);
print("Reward: -0.3");
float range = (centerOfImageX - nearAreaLimit) - (centerOfImageX - farAreaLimit);
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - farAreaLimit);
reward = -(1 - (distanceToLeftFarBorder / range));
}
else
// Center of gravity is near left of the center
else if (centerOfGravityX <= centerOfImageX)
{
SetReward(-1);
print("Reward: -1");
float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
reward = (distanceToLeftFarBorder / range);
}
// Center of gravity is far right of the center
else if (centerOfGravityX >= centerOfImageX + farAreaLimit)
{
reward = -1;
}
// Center of gravity is between far and near right of the center
else if (centerOfGravityX >= centerOfImageX + nearAreaLimit)
{
float range = (centerOfImageX + farAreaLimit) - (centerOfImageX + nearAreaLimit);
float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX + nearAreaLimit);
reward = -(distanceToLeftFarBorder / range);
}
// Center of gravity is near right of the center
else if (centerOfGravityX >= centerOfImageX)
{
float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
float distanceToLeftFarBorder = centerOfGravityX - centerOfImageX;
reward = (1 - distanceToLeftFarBorder / range);
}
onRenderImageTest.enabled = false;
SetReward(reward);
}
// to be implemented by the developer
@ -132,7 +165,6 @@ public class CozmoAgent : Agent
if (!academy.GetIsInference())
{
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
RequestDecision();
}
else
@ -140,7 +172,6 @@ public class CozmoAgent : Agent
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
{
timeSinceDecision = 0f;
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
RequestDecision();
}
else

45
Assets/Scripts/Movemnet/CozmoMovementController.cs Normal file
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@ -0,0 +1,45 @@
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public enum MovementState { Stop, Forward, Right, Left }
[RequireComponent(typeof(CozmoMovement))]
public class CozmoMovementController : MonoBehaviour
{
[Tooltip("Current MovementState of the Robot. Change this to make the robot move.")]
public MovementState currentMovementState = MovementState.Stop;
private CozmoMovement movement; // Movement script of the robot
// Start is called before the first frame update
void Start()
{
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.");
}
}
}

11
Assets/Scripts/Movemnet/CozmoMovementController.cs.meta Normal file
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@ -0,0 +1,11 @@
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