Crop Image / Training now works / Got memory error while training

Assets/Brains/CozmoLearningBrain.asset

@@ -18,7 +18,7 @@ MonoBehaviour:
     vectorActionSize: 04000000
     cameraResolutions:
     - width: 320
-      height: 240
+      height: 120
       blackAndWhite: 0
     vectorActionDescriptions:
     - 

Assets/Scenes/CozmoTraining.unity

@@ -145,6 +145,7 @@ Transform:
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@@ -879,7 +972,9 @@ MonoBehaviour:
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   m_Name: 
   m_EditorClassIdentifier: 
-  processedImageRenderer: {fileID: 1863707383}
+  renderTextureCropped: {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29,
+    type: 2}
+  processedImageRendererCropped: {fileID: 712179489}
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@@ -1601,7 +1696,7 @@ GameObject:
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   m_Name: StartPoint
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+  m_Icon: {fileID: 0}
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@@ -1640,8 +1735,12 @@ PrefabInstance:
         type: 3}
       propertyPath: m_Icon
       value: 
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-        type: 0}
+      objectReference: {fileID: 0}
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+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
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     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalPosition.x
@@ -1697,11 +1796,6 @@ PrefabInstance:
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@@ -1732,7 +1826,7 @@ MonoBehaviour:
   agentParameters:
     agentCameras: []
     agentRenderTextures:
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+    - {fileID: 8400000, guid: 8bf12f4401860c043a77209428e97b29, type: 2}
     maxStep: 1000
     resetOnDone: 1
     onDemandDecision: 1

Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs

@@ -6,7 +6,19 @@ using System.Threading.Tasks;
 
 public class ImageProcessor : MonoBehaviour
 {
-    public MeshRenderer processedImageRenderer;
+    [Header("RenderTexture")]
+    [Tooltip("RenderTexture that will be passed to the LearningBrain.")]
+    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 and cropped Image from Cozmo")]
+    public MeshRenderer processedImageRendererCropped;
+
+    /// <summary>
+    /// Center of Gravity in the cropped canny image
+    /// </summary>
     public Point CenterOfGravity { get; private set; }
 
     // OpenCVSharp parameters
@@ -17,34 +29,56 @@ public class ImageProcessor : MonoBehaviour
     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 int imWidth = 320;          // Width of the camera image from the virtual cozmo
+    private int imHeight = 240;         // Height of the camera image from the virtual cozmo
+    private int croppedImHeight = 120;  // Height of the cropped camera image from the virtual cozmo 
+    private Camera textureCamera;       // Virtual Cozmo camera
 
     private void Start()
     {
+        // Get reference to the cozmo camera
         textureCamera = GetComponent<Camera>();
 
+        // 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
-        processedImageRenderer.material.mainTexture = textureCamera.targetTexture;
+        //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];
         cannyImage = new Mat(imHeight, imWidth, MatType.CV_8UC1);
-        cannyImageData = new byte[imHeight * imWidth];
+        cannyImageData = new byte[croppedImHeight * imWidth];
     }
 
-
+    /// <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);
-        Graphics.Blit(processedTexture, destination);
+        //Graphics.Blit(processedTexture, destination);
+        Graphics.Blit(processedTexture, renderTextureCropped);
+    }
+
+    // Crop image to just see the middle of the original image 
+    private Mat CropImage(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)
@@ -101,10 +135,10 @@ public class ImageProcessor : MonoBehaviour
         // 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];
+        Color32[] c = new Color32[croppedImHeight * imWidth];
 
         // parallel for loop
-        Parallel.For(0, imHeight, i =>
+        Parallel.For(0, croppedImHeight, i =>
         {
             for (var j = 0; j < imWidth; j++)
             {
@@ -120,7 +154,7 @@ public class ImageProcessor : MonoBehaviour
             }
         });
 
-        Texture2D texture = new Texture2D(imWidth, imHeight, TextureFormat.RGBA32, true, true);
+        Texture2D texture = new Texture2D(imWidth, croppedImHeight, TextureFormat.RGBA32, true, true);
         texture.SetPixels32(c);
         // to update the texture, OpenGL manner
         texture.Apply();

Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -94,8 +94,8 @@ public class CozmoAgent : Agent
         }
         else if (centerOfGravity.X > renderCamera.targetTexture.width / 2 - farAreaLimit && centerOfGravity.X < renderCamera.targetTexture.width / 2 + farAreaLimit)
         {
-            SetReward(-0.7f);
-            print("Reward: -0.7");
+            SetReward(-0.3f);
+            print("Reward: -0.3");
         }
         else
         {

Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture

@@ -0,0 +1,34 @@
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+  m_ImageContentsHash:
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+    Hash: 00000000000000000000000000000000
+  m_ForcedFallbackFormat: 4
+  m_DownscaleFallback: 0
+  m_Width: 320
+  m_Height: 120
+  m_AntiAliasing: 1
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+  m_GenerateMips: 1
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+    m_WrapV: 1
+    m_WrapW: 1
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+  m_VolumeDepth: 1

Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture.meta

@@ -0,0 +1,8 @@
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ConfigFiles/trainer_config.yaml

@@ -0,0 +1,22 @@
+default:
+    trainer: ppo
+    batch_size: 1024
+    beta: 5.0e-3
+    buffer_size: 10240
+    epsilon: 0.2
+    gamma: 0.99
+    hidden_units: 128
+    lambd: 0.95
+    learning_rate: 3.0e-4
+    max_steps: 5.0e4
+    memory_size: 256
+    normalize: false
+    num_epoch: 3
+    num_layers: 2
+    time_horizon: 64
+    sequence_length: 64
+    summary_freq: 1000
+    use_recurrent: false
+    use_curiosity: false
+    curiosity_strength: 0.01
+    curiosity_enc_size: 128