Add opencvsharp.dll / Add Rendertexture observation / add Canny

Assets/Brains/CozmoLearningBrain.asset

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     - forward

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Assets/Scenes/CozmoTraining.unity

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Assets/Scripts/CannyEdgeDetection.meta

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Assets/Scripts/CannyEdgeDetection/CannyTest.cs

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+//using UnityEngine;
+//using OpenCvSharp;
+//using System.Threading.Tasks;
+
+
+//public class CannyTest : MonoBehaviour
+//{
+
+//    // Video parameters
+//    public MeshRenderer CameraRenderer;
+//    public MeshRenderer ProcessedImageRenderer;
+//    public Camera textureCamera;
+
+//    // Video size
+//    private const int imWidth = 1280; //TODO: Set width and height based on agent observation size
+//    private const int imHeight = 720;
+//    private int imFrameRate;
+
+//    // OpenCVSharp parameters
+//    private Mat videoSourceImage;
+//    private Mat cannyImage;
+//    private Texture2D processedTexture;
+//    private Vec3b[] videoSourceImageData;
+//    private byte[] cannyImageData;
+
+//    // Frame rate parameter
+//    private int updateFrameCount = 0;
+//    private int textureCount = 0;
+//    private int displayCount = 0;
+
+//    void Start()
+//    {
+//        // assign the camera texture to the meshrenderer
+//        CameraRenderer.material.mainTexture = textureCamera.targetTexture;
+
+//        // initialize video / image with given size
+//        videoSourceImage = new Mat(imHeight, imWidth, MatType.CV_8UC3);
+//        videoSourceImageData = new Vec3b[imHeight * imWidth];
+//        cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
+//        cannyImageData = new byte[imHeight * imWidth];
+
+//        // create processed video texture as Texture2D object
+//        processedTexture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
+
+//        // assign the processedTexture to the meshrenderer for display
+//        ProcessedImageRenderer.material.mainTexture = processedTexture;
+//    }
+
+
+
+//    void Update()
+//    {
+
+//        updateFrameCount++;
+
+
+
+//        if (textureCamera.targetTexture.didUpdateThisFrame)
+//        {
+
+//            textureCount++;
+
+//            // convert texture of original video to OpenCVSharp Mat object
+//            TextureToMat();
+//            // update the opencv window of source video
+//            UpdateWindow(videoSourceImage);
+//            // create the canny edge image out of source image
+//            ProcessImage(videoSourceImage);
+//            // convert the OpenCVSharp Mat of canny image to Texture2D
+//            // the texture will be displayed automatically
+//            MatToTexture();
+
+//        }
+
+//    }
+//        else
+//        {
+//            Debug.Log("Can't find camera!");
+//        }
+
+
+//        // output frame rate information
+//        if (updateFrameCount % 30 == 0)
+//        {
+//            Debug.Log("Frame count: " + updateFrameCount + ", Texture count: " + textureCount + ", Display count: " + displayCount);
+//        }
+
+
+//    }
+
+
+//    // Convert Unity Texture2D object to OpenCVSharp Mat object
+//    void TextureToMat()
+//{
+//    // Color32 array : r, g, b, a
+//    Color32[] c = _webcamTexture.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);
+//}
+
+
+
+//// Convert OpenCVSharp Mat object to Unity Texture2D object
+//void MatToTexture()
+//{
+//    // cannyImageData is byte array, because canny image is grayscale
+//    cannyImage.GetArray(0, 0, cannyImageData);
+//    // create Color32 array that can be assigned to Texture2D directly
+//    Color32[] c = new Color32[imHeight * imWidth];
+
+//    // parallel for loop
+//    Parallel.For(0, imHeight, 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();
+//}
+
+
+
+//// Simple example of canny edge detect
+//void ProcessImage(Mat _image)
+//{
+//    Cv2.Flip(_image, _image, FlipMode.X);
+//    Cv2.Canny(_image, cannyImage, 100, 100);
+//}
+
+
+//// Display the original video in a opencv window
+//void UpdateWindow(Mat _image)
+//{
+//    Cv2.Flip(_image, _image, FlipMode.X);
+//    Cv2.ImShow("Copy video", _image);
+//    displayCount++;
+//}
+
+//// close the opencv window
+//public void OnDestroy()
+//{
+//    Cv2.DestroyAllWindows();
+
+//}
+
+
+//}

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Assets/Scripts/CannyEdgeDetection/OnRenderImageTest.cs

@@ -0,0 +1,127 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using OpenCvSharp;
+using System.Threading.Tasks;
+
+public class OnRenderImageTest : MonoBehaviour
+{
+    public MeshRenderer processedImageRenderer;
+
+    // OpenCVSharp parameters
+    private Mat videoSourceImage;
+    private Mat cannyImage;
+    private Texture2D processedTexture;
+    private Vec3b[] videoSourceImageData;
+    private byte[] cannyImageData;
+
+
+    private const int imWidth = 320; //TODO: Set width and height based on agent observation size
+    private const int imHeight = 240;
+
+    private Camera textureCamera;
+
+    private void Start()
+    {
+        textureCamera = GetComponent<Camera>();
+
+        //assign the processed targetTexture to the renderer to display the image
+        processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
+
+        // initialize video / image with given size
+        videoSourceImage = new Mat(imHeight, imWidth, MatType.CV_8UC3);
+        videoSourceImageData = new Vec3b[imHeight * imWidth];
+        cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
+        cannyImageData = new byte[imHeight * imWidth];
+    }
+
+
+    private void OnRenderImage(RenderTexture source, RenderTexture destination)
+    {
+        Texture2D tex = RenderTextureToTexture2D(source);
+        videoSourceImage = TextureToMat(tex);
+        cannyImage = ProcessImage(videoSourceImage);
+        processedTexture = MatToTexture(cannyImage);
+        Graphics.Blit(processedTexture, destination);
+    }
+
+    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;
+    }
+
+    // Convert Unity Texture2D object to OpenCVSharp Mat object
+    private Mat TextureToMat(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
+        Mat tmpMat = new Mat(imHeight, imWidth, MatType.CV_8UC3);
+        tmpMat.SetArray(0, 0, videoSourceImageData);
+        return tmpMat;
+    }
+
+    // Simple example of canny edge detect
+    private Mat ProcessImage(Mat _image)
+    {
+        Mat cannyImg = new Mat();
+        Cv2.Canny(_image, cannyImg, 100, 100);
+        return cannyImg;
+    }
+
+    // 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[imHeight * imWidth];
+
+        // parallel for loop
+        Parallel.For(0, imHeight, 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, imHeight, TextureFormat.RGBA32, true, true);
+        texture.SetPixels32(c);
+        // to update the texture, OpenGL manner
+        texture.Apply();
+        return texture;
+    }
+}

Assets/Scripts/CannyEdgeDetection/OnRenderImageTest.cs.meta

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Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -6,4 +6,39 @@ using UnityEngine;
 public class CozmoAgent : Agent
 {
 
+    public Camera renderCamera;
+    public Academy academy;
+    public float timeBetweenDecisionsAtInference;
+    private float timeSinceDecision;
+
+    public void FixedUpdate()
+    {
+        WaitTimeInference();
+    }
+
+    private void WaitTimeInference()
+    {
+        if (renderCamera != null)
+        {
+            renderCamera.Render();
+        }
+
+        if (!academy.GetIsInference())
+        {
+            RequestDecision();
+        }
+        else
+        {
+            if (timeSinceDecision >= timeBetweenDecisionsAtInference)
+            {
+                timeSinceDecision = 0f;
+                RequestDecision();
+            }
+            else
+            {
+                timeSinceDecision += Time.fixedDeltaTime;
+            }
+        }
+    }
+
 }

Assets/Scripts/Movemnet/CozmoMovementTester.cs

@@ -22,6 +22,10 @@ public class CozmoMovementTester : MonoBehaviour
     [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>();
@@ -35,13 +39,16 @@ public class CozmoMovementTester : MonoBehaviour
 
     private void FixedUpdate()
     {
-        if (testState == TestStates.MovementSpeed)
-        {
-            TestMovementSpeed();
-        }
-        else if (testState == TestStates.RotationSpeed)
+        if (isTesting)
         {
-            TestRotationSpeed();
+            if (testState == TestStates.MovementSpeed)
+            {
+                TestMovementSpeed();
+            }
+            else if (testState == TestStates.RotationSpeed)
+            {
+                TestRotationSpeed();
+            }
         }
     }
 
@@ -60,6 +67,7 @@ public class CozmoMovementTester : MonoBehaviour
                     "\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
             }
 
+            isTesting = false;
             return;
         }
         else
@@ -87,6 +95,7 @@ public class CozmoMovementTester : MonoBehaviour
                     "/nElapsed time in milliseconds (Movement): " + movementWatch.ElapsedMilliseconds);
             }
 
+            isTesting = false;
             return;
         }
         else

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Assets/Textures/RenderTextures/CozmoCannyTexture.renderTexture

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Assets/Textures/RenderTextures/TestVisualBanana.renderTexture

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Assets/UnitySDK/Assets/ML-Agents/Examples/BananaCollectors/Scenes/VisualBanana.unity

@@ -13,7 +13,7 @@ OcclusionCullingSettings:
 --- !u!104 &2
 RenderSettings:
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-  serializedVersion: 8
+  serializedVersion: 9
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   m_Sun: {fileID: 0}
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+  m_UseRadianceAmbientProbe: 0
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@@ -49,16 +50,14 @@ LightmapSettings:
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-    m_TemporalCoherenceThreshold: 1
     m_EnvironmentLightingMode: 0
     m_EnableBakedLightmaps: 1
     m_EnableRealtimeLightmaps: 1
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+    serializedVersion: 10
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-    m_TextureWidth: 1024
-    m_TextureHeight: 1024
+    m_AtlasSize: 1024
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Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity

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notebooks/getting-started-gym.ipynb

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+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Unity ML-Agents Toolkit\n",
+    "##  Gym Wrapper Basics\n",
+    "This notebook contains a walkthrough of the basic functions of the Python Gym Wrapper for the Unity ML-Agents toolkit. For instructions on building a Unity environment, see [here](https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Getting-Started-with-Balance-Ball.md)."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Single-Agent Environments\n",
+    "\n",
+    "The first five steps show how to use the `UnityEnv` wrapper with single-agent environments. See below step five for how to use with multi-agent environments."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 1. Load dependencies\n",
+    "\n",
+    "The following loads the necessary dependencies and checks the Python version (at runtime). ML-Agents Toolkit (v0.3 onwards) requires Python 3."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "import sys\n",
+    "\n",
+    "from gym_unity.envs import UnityEnv\n",
+    "\n",
+    "%matplotlib inline\n",
+    "\n",
+    "print(\"Python version:\")\n",
+    "print(sys.version)\n",
+    "\n",
+    "# check Python version\n",
+    "if (sys.version_info[0] < 3):\n",
+    "    raise Exception(\"ERROR: ML-Agents Toolkit (v0.3 onwards) requires Python 3\")"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 2. Start the environment\n",
+    "`UnityEnv` launches and begins communication with the environment when instantiated. We will be using the `GridWorld` environment. You will need to create an `envs` directory within the  `/python` subfolder of the repository, and build the GridWorld environment to that directory. For more information on building Unity environments, see [here](../docs/Learning-Environment-Executable.md)."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "env_name = \"../envs/GridWorld\"  # Name of the Unity environment binary to launch\n",
+    "env = UnityEnv(env_name, worker_id=0, use_visual=True)\n",
+    "\n",
+    "# Examine environment parameters\n",
+    "print(str(env))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 3. Examine the observation and state spaces\n",
+    "We can reset the environment to be provided with an initial observation of the environment."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Reset the environment\n",
+    "initial_observation = env.reset()\n",
+    "\n",
+    "if len(env.observation_space.shape) == 1:\n",
+    "    # Examine the initial vector observation\n",
+    "    print(\"Agent state looks like: \\n{}\".format(initial_observation))\n",
+    "else:\n",
+    "    # Examine the initial visual observation\n",
+    "    print(\"Agent observations look like:\")\n",
+    "    if env.observation_space.shape[2] == 3:\n",
+    "        plt.imshow(initial_observation[:,:,:])\n",
+    "    else:\n",
+    "        plt.imshow(initial_observation[:,:,0])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 4. Take random actions in the environment\n",
+    "Once we restart an environment, we can step the environment forward and provide actions to all of the agents within the environment. Here we simply choose random actions using the `env.action_space.sample()` function.\n",
+    "\n",
+    "Once this cell is executed, 10 messages will be printed that detail how much reward will be accumulated for the next 10 episodes. The Unity environment will then pause, waiting for further signals telling it what to do next. Thus, not seeing any animation is expected when running this cell."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for episode in range(10):\n",
+    "    initial_observation = env.reset()\n",
+    "    done = False\n",
+    "    episode_rewards = 0\n",
+    "    while not done:\n",
+    "        observation, reward, done, info = env.step(env.action_space.sample())\n",
+    "        episode_rewards += reward\n",
+    "    print(\"Total reward this episode: {}\".format(episode_rewards))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 5. Close the environment when finished\n",
+    "When we are finished using an environment, we can close it with the function below."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "env.close()"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Multi-Agent Environments\n",
+    "\n",
+    "It is also possible to use the gym wrapper with multi-agent environments. For these environments, observations, rewards, and done flags will be provided in a list. Likewise, the environment will expect a list of actions when calling `step(action)`."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 1. Start the environment\n",
+    "\n",
+    "We will use the `3DBall` environment for this walkthrough. For more information on building Unity environments, see [here](../docs/Learning-Environment-Executable.md). We will launch it from the `python/envs` sub-directory of the repo. Please create an `envs` folder if one does not already exist."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Name of the Unity environment binary to launch\n",
+    "multi_env_name = \"../envs/3DBall\"  \n",
+    "multi_env = UnityEnv(multi_env_name, worker_id=1, \n",
+    "                     use_visual=False, multiagent=True)\n",
+    "\n",
+    "# Examine environment parameters\n",
+    "print(str(multi_env))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 2. Examine the observation space "
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "# Reset the environment\n",
+    "initial_observations = multi_env.reset()\n",
+    "\n",
+    "if len(multi_env.observation_space.shape) == 1:\n",
+    "    # Examine the initial vector observation\n",
+    "    print(\"Agent observations look like: \\n{}\".format(initial_observations[0]))\n",
+    "else:\n",
+    "    # Examine the initial visual observation\n",
+    "    print(\"Agent observations look like:\")\n",
+    "    if multi_env.observation_space.shape[2] == 3:\n",
+    "        plt.imshow(initial_observations[0][:,:,:])\n",
+    "    else:\n",
+    "        plt.imshow(initial_observations[0][:,:,0])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 3. Take random steps in the environment"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "for episode in range(10):\n",
+    "    initial_observation = multi_env.reset()\n",
+    "    done = False\n",
+    "    episode_rewards = 0\n",
+    "    while not done:\n",
+    "        actions = [multi_env.action_space.sample() for agent in range(multi_env.number_agents)]\n",
+    "        observations, rewards, dones, info = multi_env.step(actions)\n",
+    "        episode_rewards += np.mean(rewards)\n",
+    "        done = dones[0]\n",
+    "    print(\"Total reward this episode: {}\".format(episode_rewards))"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### 4. Close the environment"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "multi_env.close()"
+   ]
+  }
+ ],
+ "metadata": {
+  "anaconda-cloud": {},
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.6.6"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
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