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

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This commit is contained in:
Tobi 2019-05-22 16:50:35 +02:00
parent 82a4c23258
commit 8082fde44c
9 changed files with 58244 additions and 40 deletions
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2
Assets/Brains/CozmoLearningBrain.asset
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@ -18,7 +18,7 @@ MonoBehaviour:
vectorActionSize: 04000000
cameraResolutions:
- width: 320
height: 240
height: 120
blackAndWhite: 0
vectorActionDescriptions:
-

114
Assets/Scenes/CozmoTraining.unity
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resetOnDone: 1
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58
Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs
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@ -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();

4
Assets/Scripts/ML Cozmo/CozmoAgent.cs
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@ -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
{

34
Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture Normal file
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8
Assets/Textures/RenderTextures/CozmoCannyCroped.renderTexture.meta Normal file
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22
ConfigFiles/trainer_config.yaml Normal file
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@ -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

58020
Notebooks/UnitySDK.log
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22
Notebooks/getting-started.ipynb
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