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Fix Memory error / Messy code

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This commit is contained in:
Tobi 2019-05-23 15:28:26 +02:00
parent 8082fde44c
commit 411338a35d
8 changed files with 4468 additions and 21 deletions
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4
Assets/Brains/CozmoLearningBrain.asset
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@ -17,8 +17,8 @@ MonoBehaviour:
numStackedVectorObservations: 1
vectorActionSize: 04000000
cameraResolutions:
- width: 320
height: 120
- width: 80
height: 30
blackAndWhite: 0
vectorActionDescriptions:
-

77
Assets/Scenes/CozmoTraining.unity
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@ -974,6 +974,7 @@ MonoBehaviour:
m_EditorClassIdentifier:
renderTextureCropped: {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29,
type: 2}
processedImageRenderer: {fileID: 1863707383}
processedImageRendererCropped: {fileID: 712179489}
--- !u!1 &918537782
GameObject:
@ -1104,14 +1105,14 @@ MonoBehaviour:
- {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
maxSteps: 1000
trainingConfiguration:
width: 84
height: 84
width: 80
height: 30
qualityLevel: 1
timeScale: 10
targetFrameRate: -1
inferenceConfiguration:
width: 84
height: 84
width: 320
height: 120
qualityLevel: 5
timeScale: 1
targetFrameRate: 60
@ -1684,6 +1685,72 @@ MeshFilter:
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1863707380}
m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
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m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
serializedVersion: 6
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- component: {fileID: 1957393252}
- component: {fileID: 1957393251}
- component: {fileID: 1957393250}
m_Layer: 0
m_Name: EventSystem
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0
m_StaticEditorFlags: 0
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--- !u!114 &1957393250
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m_CorrespondingSourceObject: {fileID: 0}
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m_GameObject: {fileID: 1957393249}
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m_EditorHideFlags: 0
m_Script: {fileID: 1077351063, guid: f70555f144d8491a825f0804e09c671c, type: 3}
m_Name:
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m_VerticalAxis: Vertical
m_SubmitButton: Submit
m_CancelButton: Cancel
m_InputActionsPerSecond: 10
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m_ForceModuleActive: 0
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m_GameObject: {fileID: 1957393249}
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m_Script: {fileID: -619905303, guid: f70555f144d8491a825f0804e09c671c, type: 3}
m_Name:
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m_sendNavigationEvents: 1
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m_CorrespondingSourceObject: {fileID: 0}
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 1957393249}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
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m_Father: {fileID: 0}
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GameObject:
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@ -1827,7 +1894,7 @@ MonoBehaviour:
agentCameras: []
agentRenderTextures:
- {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29, type: 2}
maxStep: 1000
maxStep: 5000
resetOnDone: 1
onDemandDecision: 1
numberOfActionsBetweenDecisions: 1

158
Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs
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@ -11,8 +11,8 @@ public class ImageProcessor : MonoBehaviour
public RenderTexture renderTextureCropped;
[Header("Debug Helper")]
//[Tooltip("Reference to the MeshRenderer that will show the processed Image from Cozmo")]
//public MeshRenderer processedImageRenderer;
[Tooltip("Reference to the MeshRenderer that will show the processed Image from Cozmo")]
public MeshRenderer processedImageRenderer;
[Tooltip("Reference to the MeshRenderer that will show the processed and cropped Image from Cozmo")]
public MeshRenderer processedImageRendererCropped;
@ -34,6 +34,10 @@ 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 void Start()
{
// Get reference to the cozmo camera
@ -42,10 +46,10 @@ 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;
//croppedImHeight = renderTextureCropped.height;
//assign the processed targetTexture to the renderer to display the image
//processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
processedImageRendererCropped.material.mainTexture = renderTextureCropped;
// initialize video / image with given size
@ -53,14 +57,37 @@ public class ImageProcessor : MonoBehaviour
videoSourceImageData = 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);
}
/// <summary>
/// Gets called when a new image arrives from the camera this script lies on
/// </summary>
/// <param name="source"></param>
/// <param name="destination"></param>
private void OnRenderImage(RenderTexture source, RenderTexture destination)
///// <summary>
///// Gets called when a new image arrives from the camera this script lies on
///// </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);
@ -68,7 +95,35 @@ public class ImageProcessor : MonoBehaviour
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);
cannyImage = CropImage(cannyImage);
CenterOfGravityTest(cannyImage);
MatToTexture_NEW(cannyImage);
Graphics.Blit(processedTexture, destination);
Graphics.Blit(processedTexture, renderTextureCropped);
}
@ -81,6 +136,15 @@ 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);
@ -90,6 +154,13 @@ public class ImageProcessor : MonoBehaviour
return tex;
}
private void RenderTextureToTexture2D_NEW(RenderTexture rTex)
{
RenderTexture.active = rTex;
firstTexture.ReadPixels(new UnityEngine.Rect(0, 0, rTex.width, rTex.height), 0, 0);
firstTexture.Apply();
}
// Convert Unity Texture2D object to OpenCVSharp Mat object
private Mat TextureToMat(Texture2D source)
{
@ -121,6 +192,36 @@ public class ImageProcessor : MonoBehaviour
return tmpMat;
}
// 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)
{
@ -129,6 +230,12 @@ public class ImageProcessor : MonoBehaviour
return cannyImg;
}
// Simple example of canny edge detect
private void ProcessImage_NEW(Mat _image)
{
Cv2.Canny(_image, cannyImage, 100, 100);
}
// Convert OpenCVSharp Mat object to Unity Texture2D object
private Texture2D MatToTexture(Mat mat)
{
@ -161,6 +268,37 @@ public class ImageProcessor : MonoBehaviour
return texture;
}
// Convert OpenCVSharp Mat object to Unity Texture2D object
private void MatToTexture_NEW(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;
}
});
processedTexture.SetPixels32(c);
// to update the texture, OpenGL manner
processedTexture.Apply();
}
private void CenterOfGravityTest(Mat processedImage)
{

1
Assets/Scripts/ML Cozmo/CozmoAcademy.cs
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@ -12,6 +12,7 @@ public class CozmoAcademy : Academy
public override void AcademyReset()
{
cozmo.transform.position = startPoint.position;
cozmo.transform.rotation = startPoint.rotation;
}
//private void Update()

5
Assets/Scripts/ML Cozmo/CozmoAgent.cs
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@ -83,6 +83,7 @@ public class CozmoAgent : Agent
if (renderCamera != null)
{
renderCamera.Render();
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
}
@ -102,6 +103,8 @@ public class CozmoAgent : Agent
SetReward(-1);
print("Reward: -1");
}
onRenderImageTest.enabled = false;
}
// to be implemented by the developer
@ -129,6 +132,7 @@ public class CozmoAgent : Agent
if (!academy.GetIsInference())
{
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
RequestDecision();
}
else
@ -136,6 +140,7 @@ public class CozmoAgent : Agent
if (timeSinceDecision >= timeBetweenDecisionsAtInference)
{
timeSinceDecision = 0f;
//onRenderImageTest.ProcessRenderTexture_NEW(renderCamera.targetTexture, onRenderImageTest.renderTextureCropped);
RequestDecision();
}
else

4
Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture
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@ -12,8 +12,8 @@ RenderTexture:
Hash: 00000000000000000000000000000000
m_ForcedFallbackFormat: 4
m_DownscaleFallback: 0
m_Width: 320
m_Height: 120
m_Width: 80
m_Height: 30
m_AntiAliasing: 1
m_DepthFormat: 2
m_ColorFormat: 0

4236
Notebooks/UnitySDK.log
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File diff suppressed because it is too large Load Diff

4
Notebooks/getting-started.ipynb
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@ -136,7 +136,7 @@
},
{
"data": {
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"image/png": "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\n",
"text/plain": [
"<Figure size 432x288 with 1 Axes>"
]
@ -195,7 +195,7 @@
"name": "stdout",
"output_type": "stream",
"text": [
"Total reward this episode: -699.7999988794327\n"
"Total reward this episode: -366.90000158548355\n"
]
},
{