New Reward function and MovementController
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@ -1899,7 +1899,7 @@ MonoBehaviour:
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onDemandDecision: 1
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numberOfActionsBetweenDecisions: 1
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renderCamera: {fileID: 891713640}
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movement: {fileID: 7570006596986120128}
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movementController: {fileID: 7570006596986120130}
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timeBetweenDecisionsAtInference: 0.15
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--- !u!65 &7570006596986120126
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BoxCollider:
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@ -1958,3 +1958,16 @@ MonoBehaviour:
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m_EditorClassIdentifier:
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testState: 1
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isTesting: 0
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--- !u!114 &7570006596986120130
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MonoBehaviour:
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m_ObjectHideFlags: 0
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m_CorrespondingSourceObject: {fileID: 0}
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m_PrefabInstance: {fileID: 0}
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m_PrefabAsset: {fileID: 0}
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m_GameObject: {fileID: 7570006596986120123}
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m_Enabled: 1
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m_EditorHideFlags: 0
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m_Script: {fileID: 11500000, guid: d3ecda30187828846b48edbee97aebd7, type: 3}
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m_Name:
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m_EditorClassIdentifier:
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currentMovementState: 0
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@ -22,10 +22,10 @@ public class ImageProcessor : MonoBehaviour
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public Point CenterOfGravity { get; private set; }
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// OpenCVSharp parameters
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private Mat videoSourceImage;
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private Mat cozmoImageMat;
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private Mat cannyImage;
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private Texture2D processedTexture;
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private Vec3b[] videoSourceImageData;
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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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@ -34,8 +34,7 @@ public class ImageProcessor : MonoBehaviour
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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 firstTexture;
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private Texture2D originalCozmoTexture;
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private void Start()
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@ -46,21 +45,19 @@ public class ImageProcessor : MonoBehaviour
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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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//croppedImHeight = renderTextureCropped.height;
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//assign the processed targetTexture to the renderer to display the image
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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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// initialize video / image with given size
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videoSourceImage = new Mat(imHeight, imWidth, MatType.CV_8UC3);
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videoSourceImageData = new Vec3b[imHeight * imWidth];
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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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firstTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
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processedTexture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
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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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@ -68,63 +65,16 @@ public class ImageProcessor : MonoBehaviour
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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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//private void OnRenderImage(RenderTexture source, RenderTexture destination)
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//{
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// Texture2D tex = RenderTextureToTexture2D(source);
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// videoSourceImage = TextureToMat(tex);
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// cannyImage = ProcessImage(videoSourceImage);
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// cannyImage = CropImage(cannyImage);
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// CenterOfGravityTest(cannyImage);
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// processedTexture = MatToTexture(cannyImage);
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// //processedTexture.Resize(80, 30);
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// //processedTexture.Apply();
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// //Graphics.Blit(processedTexture, destination);
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// Graphics.Blit(processedTexture, renderTextureCropped);
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//}
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public void ProcessRenderTexture(RenderTexture source)
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{
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ProcessRenderTexture(source, source);
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}
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public void ProcessRenderTexture(RenderTexture source, RenderTexture target)
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{
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Texture2D tex = RenderTextureToTexture2D(source);
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videoSourceImage = TextureToMat(tex);
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cannyImage = ProcessImage(videoSourceImage);
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cannyImage = CropImage(cannyImage);
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CenterOfGravityTest(cannyImage);
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processedTexture = MatToTexture(cannyImage);
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//processedTexture.Resize(80, 30);
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//processedTexture.Apply();
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//Graphics.Blit(processedTexture, destination);
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Graphics.Blit(processedTexture, target);
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}
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//public void ProcessRenderTexture_NEW(RenderTexture source, RenderTexture target)
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//{
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// RenderTextureToTexture2D_NEW(source);
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// TextureToMat_NEW(firstTexture);
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// ProcessImage_NEW(videoSourceImage);
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// cannyImage = CropImage(cannyImage);
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// CenterOfGravityTest(cannyImage);
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// MatToTexture_NEW(cannyImage);
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// //processedTexture.Resize(80, 30);
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// //processedTexture.Apply();
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// //Graphics.Blit(processedTexture, destination);
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// Graphics.Blit(processedTexture, target);
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//}
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public void OnRenderImage(RenderTexture source, RenderTexture destination)
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{
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RenderTextureToTexture2D_NEW(source);
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TextureToMat_NEW(firstTexture);
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ProcessImage_NEW(videoSourceImage);
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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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CenterOfGravityTest(cannyImage);
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MatToTexture_NEW(cannyImage);
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Graphics.Blit(processedTexture, destination);
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Graphics.Blit(processedTexture, renderTextureCropped);
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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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@ -136,33 +86,16 @@ public class ImageProcessor : MonoBehaviour
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return croppedImage;
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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_NEW(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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private Texture2D RenderTextureToTexture2D(RenderTexture rTex)
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{
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Texture2D tex = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
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RenderTexture.active = rTex;
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tex.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
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tex.Apply();
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return tex;
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}
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private void RenderTextureToTexture2D_NEW(RenderTexture rTex)
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private void RenderTextureToTexture2D(RenderTexture rTex)
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{
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RenderTexture.active = rTex;
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firstTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
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firstTexture.Apply();
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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 Mat TextureToMat(Texture2D source)
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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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@ -182,94 +115,24 @@ public class ImageProcessor : MonoBehaviour
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Item2 = col.r
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};
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// set pixel to an array
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videoSourceImageData[j + i * imWidth] = vec3;
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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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Mat tmpMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
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tmpMat.SetArray(0, 0, videoSourceImageData);
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return tmpMat;
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cozmoImageMat.SetArray(0, 0, cozmoImageData);
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}
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// Convert Unity Texture2D object to OpenCVSharp Mat object
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private void TextureToMat_NEW(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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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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videoSourceImageData[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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videoSourceImage.SetArray(0, 0, videoSourceImageData);
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}
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// Simple example of canny edge detect
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private Mat ProcessImage(Mat _image)
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{
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Mat cannyImg = new Mat();
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Cv2.Canny(_image, cannyImg, 100, 100);
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return cannyImg;
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}
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// Simple example of canny edge detect
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private void ProcessImage_NEW(Mat _image)
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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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// Convert OpenCVSharp Mat object to Unity Texture2D object
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private Texture2D 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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Texture2D texture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
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texture.SetPixels32(c);
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// to update the texture, OpenGL manner
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texture.Apply();
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return texture;
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}
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// Convert OpenCVSharp Mat object to Unity Texture2D object
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private void MatToTexture_NEW(Mat mat)
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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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@ -294,13 +157,13 @@ public class ImageProcessor : MonoBehaviour
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});
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processedTexture.SetPixels32(c);
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// to update the texture, OpenGL manner
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processedTexture.Apply();
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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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private void CenterOfGravityTest(Mat processedImage)
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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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@ -19,32 +19,32 @@ public class CozmoAgent : Agent
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[Tooltip("The virtual Cozmo camera")]
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public Camera renderCamera;
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//[Tooltip("Final cropped and scaled rendertexture")]
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//public RenderTexture renderTextureScaled;
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[Tooltip("Reference to the CozmoMovement script")]
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public CozmoMovement movement;
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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 onRenderImageTest; // reference to the ImageProcessor
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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 farAreaLimit = 0; // X coordinate limit for the far away to the imagecenter area
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// for testing
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//private float[] floats = { 1.0f, 2.0f, 3.0f };
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private void Start()
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{
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academy = FindObjectOfType(typeof(CozmoAcademy)) as CozmoAcademy;
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onRenderImageTest = renderCamera.GetComponent<ImageProcessor>();
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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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farAreaLimit = (int)(renderCamera.targetTexture.width / 2 * FAR_AREA_PERCENTAGE_OFFSET);
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}
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public void FixedUpdate()
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{
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WaitTimeInference();
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// for testing
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//AgentAction(floats, "ActionText");
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}
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@ -53,7 +53,7 @@ public class CozmoAgent : Agent
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{
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//print("Action before FloorToInt: " + vectorAction[0]);
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int action = Mathf.FloorToInt(vectorAction[0]);
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Point centerOfGravity = onRenderImageTest.CenterOfGravity;
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Point centerOfGravity = imageProcessor.CenterOfGravity;
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//Vector3 targetPos = transform.position;
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//print("Action after FloorToInt: " + action);
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@ -63,16 +63,16 @@ public class CozmoAgent : Agent
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switch (action)
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{
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case STOP:
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movement.Move(0);
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movementController.currentMovementState = MovementState.Stop;
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break;
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case FORWARD:
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movement.Move(1);
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movementController.currentMovementState = MovementState.Forward;
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break;
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case RIGHT:
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movement.Turn(1);
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movementController.currentMovementState = MovementState.Right;
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break;
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case LEFT:
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movement.Turn(-1);
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movementController.currentMovementState = MovementState.Left;
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break;
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default:
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//movement.Move(0);
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@ -83,28 +83,61 @@ public class CozmoAgent : Agent
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if (renderCamera != null)
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{
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renderCamera.Render();
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//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
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}
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RewardAgent();
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imageProcessor.enabled = false;
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}
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// If centerOfGravity lies near to the center of the image horizontally
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if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - nearAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + nearAreaLimit)
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/// <summary>
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/// TODO: Cleanup code
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/// </summary>
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private void RewardAgent()
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{
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float centerOfImageX = renderCamera.targetTexture.width / 2;
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float centerOfGravityX = imageProcessor.CenterOfGravity.X;
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float reward = 0;
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// Center of gravity is far left of the center
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if (centerOfGravityX <= centerOfImageX - farAreaLimit)
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{
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SetReward(1);
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print("Reward: +1");
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reward = -1;
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}
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else if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - farAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + farAreaLimit)
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// Center of gravity is between far and near left of the center
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else if (centerOfGravityX <= centerOfImageX - nearAreaLimit)
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{
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SetReward(-0.3f);
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print("Reward: -0.3");
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float range = (centerOfImageX - nearAreaLimit) - (centerOfImageX - farAreaLimit);
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float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - farAreaLimit);
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reward = -(1 - (distanceToLeftFarBorder / range));
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}
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else
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// Center of gravity is near left of the center
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else if (centerOfGravityX <= centerOfImageX)
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{
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SetReward(-1);
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print("Reward: -1");
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float range = centerOfImageX - (centerOfImageX - nearAreaLimit);
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float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX - nearAreaLimit);
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reward = (distanceToLeftFarBorder / range);
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}
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// Center of gravity is far right of the center
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else if (centerOfGravityX >= centerOfImageX + farAreaLimit)
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{
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reward = -1;
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}
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// Center of gravity is between far and near right of the center
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else if (centerOfGravityX >= centerOfImageX + nearAreaLimit)
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{
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float range = (centerOfImageX + farAreaLimit) - (centerOfImageX + nearAreaLimit);
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float distanceToLeftFarBorder = centerOfGravityX - (centerOfImageX + nearAreaLimit);
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reward = -(distanceToLeftFarBorder / range);
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}
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// Center of gravity is near right of the center
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else if (centerOfGravityX >= centerOfImageX)
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{
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float range = (centerOfImageX + nearAreaLimit) - centerOfImageX;
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float distanceToLeftFarBorder = centerOfGravityX - centerOfImageX;
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reward = (1 - distanceToLeftFarBorder / range);
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}
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onRenderImageTest.enabled = false;
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SetReward(reward);
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}
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// to be implemented by the developer
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@ -132,7 +165,6 @@ public class CozmoAgent : Agent
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if (!academy.GetIsInference())
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{
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//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
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RequestDecision();
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}
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else
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@ -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
45
Assets/Scripts/Movemnet/CozmoMovementController.cs
Normal file
@ -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
11
Assets/Scripts/Movemnet/CozmoMovementController.cs.meta
Normal file
@ -0,0 +1,11 @@
|
||||
fileFormatVersion: 2
|
||||
guid: d3ecda30187828846b48edbee97aebd7
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
Loading…
x
Reference in New Issue
Block a user