public void SetComponentParameters(
string[] detectableTags = null,
float cellScaleX = 1f,
float cellScaleZ = 1f,
int gridSizeX = 10,
int gridSizeY = 1,
int gridSizeZ = 10,
int colliderMaskInt = -1,
SensorCompressionType compression = SensorCompressionType.None,
bool rotateWithAgent = false,
bool useOneHotTag = false,
bool countColliders = false,
bool useTestingGridSensor = false,
bool useGridSensorBase = false
)
{
DetectableTags = detectableTags;
CellScale = new Vector3(cellScaleX, 0.01f, cellScaleZ);
GridSize = new Vector3Int(gridSizeX, gridSizeY, gridSizeZ);
ColliderMask = colliderMaskInt < 0 ? LayerMask.GetMask("Default") : colliderMaskInt;
RotateWithAgent = rotateWithAgent;
CompressionType = compression;
UseOneHotTag = useOneHotTag;
CountColliders = countColliders;
m_UseGridSensorBase = useGridSensorBase;
m_UseTestingGridSensor = useTestingGridSensor;
}
/// <summary>
/// Create a GridSensorBase with the specified configuration.
/// </summary>
/// <param name="name">The sensor name</param>
/// <param name="cellScale">The scale of each cell in the grid</param>
/// <param name="gridSize">Number of cells on each side of the grid</param>
/// <param name="detectableTags">Tags to be detected by the sensor</param>
/// <param name="compression">Compression type</param>
public GridSensorBase(
string name,
Vector3 cellScale,
Vector3Int gridSize,
string[] detectableTags,
SensorCompressionType compression
)
{
m_Name = name;
m_CellScale = cellScale;
m_GridSize = gridSize;
m_DetectableTags = detectableTags;
CompressionType = compression;
if (m_GridSize.y != 1)
{
throw new UnityAgentsException("GridSensor only supports 2D grids.");
}
m_NumCells = m_GridSize.x * m_GridSize.z;
m_CellObservationSize = GetCellObservationSize();
m_ObservationSpec = ObservationSpec.Visual(m_GridSize.x, m_GridSize.z, m_CellObservationSize);
m_PerceptionTexture = new Texture2D(m_GridSize.x, m_GridSize.z, TextureFormat.RGB24, false);
ResetPerceptionBuffer();
}
public SimpleTestGridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNumSide,
bool rotateWithAgent,
int[] channelDepth,
string[] detectableObjects,
LayerMask observeMask,
GridDepthType depthType,
GameObject root,
SensorCompressionType compression,
int maxColliderBufferSize,
int initialColliderBufferSize
) : base(
name,
cellScale,
gridNumSide,
rotateWithAgent,
channelDepth,
detectableObjects,
observeMask,
depthType,
root,
compression,
maxColliderBufferSize,
initialColliderBufferSize)
{
}
/// <summary>
/// Initializes the sensor.
/// </summary>
/// <param name="grid">The <see cref="PixelGrid"/> instance to wrap.</param>
/// <param name="compression">The compression to apply to the generated image.</param>
/// <param name="name">Name of the sensor.</param>
public GridSensor(PixelGrid grid, SensorCompressionType compression, string name)
{
m_SensorName = name;
m_PixelGrid = grid;
m_Compression = compression;
Allocate();
}
/// <summary>
/// Create a OneHotGridSensor with the specified configuration.
/// </summary>
/// <param name="name">The sensor name</param>
/// <param name="cellScale">The scale of each cell in the grid</param>
/// <param name="gridNum">Number of cells on each side of the grid</param>
/// <param name="detectableTags">Tags to be detected by the sensor</param>
/// <param name="compression">Compression type</param>
public OneHotGridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNum,
string[] detectableTags,
SensorCompressionType compression
) : base(name, cellScale, gridNum, detectableTags, compression)
{
}
/// <summary>
/// Create a CountingGridSensor with the specified configuration.
/// </summary>
/// <param name="name">The sensor name</param>
/// <param name="cellScale">The scale of each cell in the grid</param>
/// <param name="gridNum">Number of cells on each side of the grid</param>
/// <param name="detectableTags">Tags to be detected by the sensor</param>
/// <param name="compression">Compression type</param>
public CountingGridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNum,
string[] detectableTags,
SensorCompressionType compression
) : base(name, cellScale, gridNum, detectableTags, compression)
{
CompressionType = SensorCompressionType.None;
}
public CameraSensor(Camera camera, int width, int height, bool grayscale, string name,
SensorCompressionType compression)
{
m_Camera = camera;
m_Width = width;
m_Height = height;
m_Grayscale = grayscale;
m_Name = name;
m_Shape = new[] { height, width, grayscale ? 1 : 3 };
m_CompressionType = compression;
}
/// <summary>
/// Creates and returns the camera sensor.
/// </summary>
/// <param name="camera">Camera object to capture images from.</param>
/// <param name="width">The width of the generated visual observation.</param>
/// <param name="height">The height of the generated visual observation.</param>
/// <param name="grayscale">Whether to convert the generated image to grayscale or keep color.</param>
/// <param name="name">The name of the camera sensor.</param>
/// <param name="compression">The compression to apply to the generated image.</param>
public CameraSensor(
Camera camera, int width, int height, bool grayscale, string name, SensorCompressionType compression)
{
m_Camera = camera;
m_Width = width;
m_Height = height;
m_Grayscale = grayscale;
m_Name = name;
m_Shape = GenerateShape(width, height, grayscale);
m_CompressionType = compression;
}
public TestTextureSensor(
Texture2D texture, string name, SensorCompressionType compressionType)
{
m_Texture = texture;
var width = texture.width;
var height = texture.height;
m_Name = name;
m_Shape = new[] { height, width, 3 };
m_CompressionType = compressionType;
}
public TestTextureSensor(
Texture2D texture, string name, SensorCompressionType compressionType)
{
m_Texture = texture;
var width = texture.width;
var height = texture.height;
m_Name = name;
m_ObservationSpec = ObservationSpec.Visual(height, width, 3);
m_CompressionType = compressionType;
}
/// <summary>
/// Initializes the sensor.
/// </summary>
/// <param name="renderTexture">The <see cref="RenderTexture"/> instance to wrap.</param>
/// <param name="grayscale">Whether to convert it to grayscale or not.</param>
/// <param name="name">Name of the sensor.</param>
/// <param name="compressionType">Compression method for the render texture.</param>
public RenderTextureSensor(
RenderTexture renderTexture, bool grayscale, string name, SensorCompressionType compressionType)
{
m_RenderTexture = renderTexture;
var width = renderTexture != null ? renderTexture.width : 0;
var height = renderTexture != null ? renderTexture.height : 0;
m_Grayscale = grayscale;
m_Name = name;
m_Shape = new[] { height, width, grayscale ? 1 : 3 };
m_CompressionType = compressionType;
}
/// <summary>
/// Initializes the sensor.
/// </summary>
/// <param name="renderTexture">The [RenderTexture](https://docs.unity3d.com/ScriptReference/RenderTexture.html)
/// instance to wrap.</param>
/// <param name="grayscale">Whether to convert it to grayscale or not.</param>
/// <param name="name">Name of the sensor.</param>
/// <param name="compressionType">Compression method for the render texture.</param>
/// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
public RenderTextureSensor(
RenderTexture renderTexture, bool grayscale, string name, SensorCompressionType compressionType)
{
m_RenderTexture = renderTexture;
var width = renderTexture != null ? renderTexture.width : 0;
var height = renderTexture != null ? renderTexture.height : 0;
m_Grayscale = grayscale;
m_Name = name;
m_ObservationSpec = ObservationSpec.Visual(height, width, grayscale ? 1 : 3);
m_CompressionType = compressionType;
}
/// <summary>
/// Creates and returns the camera sensor.
/// </summary>
/// <param name="camera">Camera object to capture images from.</param>
/// <param name="width">The width of the generated visual observation.</param>
/// <param name="height">The height of the generated visual observation.</param>
/// <param name="grayscale">Whether to convert the generated image to grayscale or keep color.</param>
/// <param name="name">The name of the camera sensor.</param>
/// <param name="compression">The compression to apply to the generated image.</param>
/// <param name="observationType">The type of observation.</param>
public CameraSensor(
Camera camera, int width, int height, bool grayscale, string name, SensorCompressionType compression, ObservationType observationType = ObservationType.Default)
{
m_Camera = camera;
m_Width = width;
m_Height = height;
m_Grayscale = grayscale;
m_Name = name;
var channels = grayscale ? 1 : 3;
m_ObservationSpec = ObservationSpec.Visual(height, width, channels, observationType);
m_CompressionType = compression;
}
public SimpleTestGridSensor(
string name,
Vector3 cellScale,
Vector3Int gridSize,
string[] detectableTags,
SensorCompressionType compression
) : base(
name,
cellScale,
gridSize,
detectableTags,
compression)
{
}
public GridSensor(
string name,
Vector3 cellScale,
Vector3Int gridNum,
bool rotateWithAgent,
int[] channelDepths,
string[] detectableObjects,
LayerMask colliderMask,
GridDepthType depthType,
GameObject rootReference,
SensorCompressionType compression,
int maxColliderBufferSize,
int initialColliderBufferSize
)
{
m_Name = name;
m_CellScale = cellScale;
m_GridSize = gridNum;
m_RotateWithAgent = rotateWithAgent;
m_RootReference = rootReference;
m_MaxColliderBufferSize = maxColliderBufferSize;
m_InitialColliderBufferSize = initialColliderBufferSize;
m_ColliderMask = colliderMask;
m_GridDepthType = depthType;
m_ChannelDepths = channelDepths;
m_DetectableObjects = detectableObjects;
m_CompressionType = compression;
if (m_GridSize.y != 1)
{
throw new UnityAgentsException("GridSensor only supports 2D grids.");
}
if (m_GridDepthType == GridDepthType.Counting && m_DetectableObjects.Length != m_ChannelDepths.Length)
{
throw new UnityAgentsException("The channels of a CountingGridSensor is equal to the number of detectableObjects");
}
InitGridParameters();
InitDepthType();
InitCellPoints();
ResetPerceptionBuffer();
m_ObservationSpec = ObservationSpec.Visual(m_GridSize.x, m_GridSize.z, m_CellObservationSize);
m_PerceptionTexture = new Texture2D(m_GridSize.x, m_GridSize.z, TextureFormat.RGB24, false);
m_ColliderBuffer = new Collider[Math.Min(m_MaxColliderBufferSize, m_InitialColliderBufferSize)];
}
/// <summary>
/// Creates a <see cref="GridSensor"/> instance.
/// </summary>
/// <param name="buffer">The <see cref="GridBuffer"/> instance to wrap</param>
/// <param name="compressionType">The <see cref="SensorCompressionType"/>
/// to apply to the generated image</param>
/// <param name="observationType">The <see cref="ObservationType"/>
/// (default or goal signal) of the sensor</param>
/// <param name="name">Name of the sensor</param>
public GridSensor(
string name,
GridBuffer buffer,
SensorCompressionType compressionType,
ObservationType observationType)
{
m_Name = name;
buffer.GetShape().Validate();
m_GridBuffer = buffer;
m_CompressionType = compressionType;
HandleCompressionType();
m_ObservationSpec = ObservationSpec.Visual(
m_GridBuffer.Height, m_GridBuffer.Width, m_GridBuffer.NumChannels, observationType);
}
