private Texture textureForInputKey(string key, bool segmentationMap)
{
Texture2D texture = null;
if (inputData[key] is Texture)
{
texture = inputData[key] as Texture2D;
}
else if (inputData[key] is GameObject)
{
GameObject go = ((GameObject)inputData[key]);
Camera mainCamera = go.GetComponent <Camera>();
if (segmentationMap)
{
ImageSynthesis synthesis = go.GetComponent <ImageSynthesis>();
if (synthesis == null)
{
synthesis = go.AddComponent <ImageSynthesis>();
}
Camera cam = synthesis.capturePasses[2].camera;
texture = RunwayUtils.CameraToTexture(cam, mainCamera.pixelWidth, mainCamera.pixelHeight);
}
else
{
texture = RunwayUtils.CameraToTexture(mainCamera, mainCamera.pixelWidth, mainCamera.pixelHeight);
}
}
if (texture == null)
{
return(null);
}
return(texture);
}
void Start()
{
var camera = GameObject.Find("Main Camera");
_imageSynthesis = camera.GetComponent(typeof(ImageSynthesis)) as ImageSynthesis;
created = new GameObject[maxObjects];
}
private void addImageSynthesisImageForm(WWWForm form, ImageSynthesis synth, bool flag, string captureName, string fieldName)
{
if (flag)
{
if (!synth.hasCapturePass(captureName))
{
Debug.LogError(captureName + " not available - sending empty image");
}
byte[] bytes = synth.Encode(captureName);
form.AddBinaryData(fieldName, bytes);
}
}
public override void OnInspectorGUI()
{
DrawDefaultInspector();
ImageSynthesis imageSynthesis = (ImageSynthesis)target;
// Only display the "Save" button if playing
if (EditorApplication.isPlaying && GUILayout.Button("Save Captures"))
{
Vector2 gameViewSize = Handles.GetMainGameViewSize();
imageSynthesis.Save(imageSynthesis.filename, width: (int)gameViewSize.x, height: (int)gameViewSize.y, imageSynthesis.filepath);
}
}
/// <summary>
/// Start the simulator and build the environment.
/// </summary>
private void Start()
{
// fixed framerate to equalize differences in performance
UnityEngine.QualitySettings.vSyncCount = 0;
UnityEngine.Application.targetFrameRate = 30;
// init variables
grid = FindObjectOfType <Grid>();
flowCam = cam.GetComponent <ImageSynthesis>();
flowCamSensitivity = flowCam.opticalFlowSensitivity;
if (!fixedObstacle)
{
currentObstacleID = 0;
}
lastData = new CollectedData(-1, "init", 0, 0, 0, Vector3.zero, Vector3.zero, 0, currentObstacleID, currentEpoch);
// load obstacles
loadedObstacles = Resources.LoadAll <GameObject>("Ready");
// IMPORTANT: RUN THESE LINES ONLY WITH NEW MODELS ONCE!!!
// otherwise new meshcolliders will be added to the prefabs all the time
//foreach (GameObject obj in loadedObstacles)
//{
// MeshCollider mc = obj.AddComponent<MeshCollider>();
// mc.sharedMesh = obj.GetComponentInChildren<MeshFilter>().sharedMesh;
//}
// generate environment
GenerateEnvironment();
// create output path
if (Directory.Exists(outputFolder))
{
Directory.Delete(outputFolder, true);
}
Directory.CreateDirectory(outputFolder);
// request new path & start moving
PathRequestManager.RequestPath(new PathRequest(transform.position, target.position, OnPathFound));
}
//public override void InitializeAgent()
void Start()
{
academy = GameObject.FindObjectOfType <UAVAcademy> ();
Application.runInBackground = true;
//mysteps = 0;
vel_limit = 10;
rb = GetComponent <Rigidbody> ();
TargetRb = Target.GetComponent <Rigidbody> ();
old_distance = Vector3.Distance(StartPos.position, TargetRb.position);
distance = Vector3.Distance(StartPos.position, TargetRb.position);
if (GetComponentInChildren <ImageSynthesis> ().capturePasses [2].camera == null)
{
print("Null!");
}
imgSyn = GetComponentInChildren <ImageSynthesis> ();
//observations [0] = GetComponentInChildren<ImageSynthesis>().capturePasses[2].camera;
agentParameters.agentCameras [0] = imgSyn.capturePasses[2].camera;
agentParameters.agentCameras [1] = imgSyn.capturePasses[3].camera;
//imgSyn.OnSceneChange ();
request = false;
density = 0;
}
private void enableImageSynthesis()
{
imageSynthesis = this.gameObject.GetComponentInChildren <ImageSynthesis> () as ImageSynthesis;
imageSynthesis.enabled = true;
}
public IEnumerator EmitFrame()
{
frameCounter += 1;
bool shouldRender = this.renderImage && serverSideScreenshot;
if (shouldRender)
{
// we should only read the screen buffer after rendering is complete
yield return(new WaitForEndOfFrame());
}
WWWForm form = new WWWForm();
MultiAgentMetadata multiMeta = new MultiAgentMetadata();
multiMeta.agents = new MetadataWrapper[this.agents.Count];
multiMeta.activeAgentId = this.activeAgentId;
multiMeta.sequenceId = this.currentSequenceId;
ThirdPartyCameraMetadata[] cameraMetadata = new ThirdPartyCameraMetadata[this.thirdPartyCameras.Count];
RenderTexture currentTexture = null;
JavaScriptInterface jsInterface = null;
if (shouldRender)
{
currentTexture = RenderTexture.active;
for (int i = 0; i < this.thirdPartyCameras.Count; i++)
{
ThirdPartyCameraMetadata cMetadata = new ThirdPartyCameraMetadata();
Camera camera = thirdPartyCameras.ToArray()[i];
cMetadata.thirdPartyCameraId = i;
cMetadata.position = camera.gameObject.transform.position;
cMetadata.rotation = camera.gameObject.transform.eulerAngles;
cameraMetadata[i] = cMetadata;
ImageSynthesis imageSynthesis = camera.gameObject.GetComponentInChildren <ImageSynthesis> () as ImageSynthesis;
addThirdPartyCameraImageForm(form, camera);
addImageSynthesisImageForm(form, imageSynthesis, this.renderDepthImage, "_depth", "image_thirdParty_depth");
addImageSynthesisImageForm(form, imageSynthesis, this.renderNormalsImage, "_normals", "image_thirdParty_normals");
addImageSynthesisImageForm(form, imageSynthesis, this.renderObjectImage, "_id", "image_thirdParty_image_ids");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_class", "image_thirdParty_classes");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_flow", "image_thirdParty_flow");//XXX fix this in a bit
}
}
for (int i = 0; i < this.agents.Count; i++)
{
BaseFPSAgentController agent = this.agents.ToArray() [i];
jsInterface = agent.GetComponent <JavaScriptInterface>();
MetadataWrapper metadata = agent.generateMetadataWrapper();
metadata.agentId = i;
// we don't need to render the agent's camera for the first agent
if (shouldRender)
{
addImageForm(form, agent);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderDepthImage, "_depth", "image_depth");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderNormalsImage, "_normals", "image_normals");
addObjectImageForm(form, agent, ref metadata);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderClassImage, "_class", "image_classes");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderFlowImage, "_flow", "image_flow");
metadata.thirdPartyCameras = cameraMetadata;
}
multiMeta.agents [i] = metadata;
}
if (shouldRender)
{
RenderTexture.active = currentTexture;
}
var serializedMetadata = Newtonsoft.Json.JsonConvert.SerializeObject(multiMeta);
#if UNITY_WEBGL
// JavaScriptInterface jsI = FindObjectOfType<JavaScriptInterface>();
// jsInterface.SendAction(new ServerAction(){action = "Test"});
if (jsInterface != null)
{
jsInterface.SendActionMetadata(serializedMetadata);
}
#endif
//form.AddField("metadata", JsonUtility.ToJson(multiMeta));
form.AddField("metadata", serializedMetadata);
form.AddField("token", robosimsClientToken);
#if !UNITY_WEBGL
if (synchronousHttp)
{
if (this.sock == null)
{
// Debug.Log("connecting to host: " + robosimsHost);
IPAddress host = IPAddress.Parse(robosimsHost);
IPEndPoint hostep = new IPEndPoint(host, robosimsPort);
this.sock = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try {
this.sock.Connect(hostep);
}
catch (SocketException e) {
Debug.Log("Socket exception: " + e.ToString());
}
}
if (this.sock != null && this.sock.Connected)
{
byte[] rawData = form.data;
string request = "POST /train HTTP/1.1\r\n" +
"Content-Length: " + rawData.Length.ToString() + "\r\n";
foreach (KeyValuePair <string, string> entry in form.headers)
{
request += entry.Key + ": " + entry.Value + "\r\n";
}
request += "\r\n";
int sent = this.sock.Send(Encoding.ASCII.GetBytes(request));
sent = this.sock.Send(rawData);
// waiting for a frame here keeps the Unity window in sync visually
// its not strictly necessary, but allows the interact() command to work properly
// and does not reduce the overall FPS
yield return(new WaitForEndOfFrame());
byte[] headerBuffer = new byte[1024];
int bytesReceived = 0;
byte[] bodyBuffer = null;
int bodyBytesReceived = 0;
int contentLength = 0;
// read header
while (true)
{
int received = this.sock.Receive(headerBuffer, bytesReceived, headerBuffer.Length - bytesReceived, SocketFlags.None);
if (received == 0)
{
Debug.LogError("0 bytes received attempting to read header - connection closed");
break;
}
bytesReceived += received;;
string headerMsg = Encoding.ASCII.GetString(headerBuffer, 0, bytesReceived);
int offset = headerMsg.IndexOf("\r\n\r\n");
if (offset > 0)
{
contentLength = parseContentLength(headerMsg.Substring(0, offset));
bodyBuffer = new byte[contentLength];
bodyBytesReceived = bytesReceived - (offset + 4);
Array.Copy(headerBuffer, offset + 4, bodyBuffer, 0, bodyBytesReceived);
break;
}
}
// read body
while (bodyBytesReceived < contentLength)
{
// check for 0 bytes received
int received = this.sock.Receive(bodyBuffer, bodyBytesReceived, bodyBuffer.Length - bodyBytesReceived, SocketFlags.None);
if (received == 0)
{
Debug.LogError("0 bytes received attempting to read body - connection closed");
break;
}
bodyBytesReceived += received;
//Debug.Log("total bytes received: " + bodyBytesReceived);
}
string msg = Encoding.ASCII.GetString(bodyBuffer, 0, bodyBytesReceived);
ProcessControlCommand(msg);
}
}
else
{
using (var www = UnityWebRequest.Post("http://" + robosimsHost + ":" + robosimsPort + "/train", form))
{
yield return(www.SendWebRequest());
if (www.isNetworkError || www.isHttpError)
{
Debug.Log("Error: " + www.error);
yield break;
}
ProcessControlCommand(www.downloadHandler.text);
}
}
#endif
}
private IEnumerator EmitFrame()
{
frameCounter += 1;
// we should only read the screen buffer after rendering is complete
yield return(new WaitForEndOfFrame());
WWWForm form = new WWWForm();
MultiAgentMetadata multiMeta = new MultiAgentMetadata();
multiMeta.agents = new MetadataWrapper[this.agents.Count];
ThirdPartyCameraMetadata[] cameraMetadata = new ThirdPartyCameraMetadata[this.thirdPartyCameras.Count];
multiMeta.activeAgentId = this.activeAgentId;
multiMeta.sequenceId = this.currentSequenceId;
RenderTexture currentTexture = RenderTexture.active;
for (int i = 0; i < this.thirdPartyCameras.Count; i++)
{
ThirdPartyCameraMetadata cMetadata = new ThirdPartyCameraMetadata();
Camera camera = thirdPartyCameras.ToArray()[i];
cMetadata.thirdPartyCameraId = i;
cMetadata.position = camera.gameObject.transform.position;
cMetadata.rotation = camera.gameObject.transform.eulerAngles;
cameraMetadata[i] = cMetadata;
ImageSynthesis imageSynthesis = camera.gameObject.GetComponentInChildren <ImageSynthesis> () as ImageSynthesis;
addThirdPartyCameraImageForm(form, camera);
addImageSynthesisImageForm(form, imageSynthesis, this.renderDepthImage, "_depth", "image_thirdParty_depth");
addImageSynthesisImageForm(form, imageSynthesis, this.renderNormalsImage, "_normals", "image_thirdParty_normals");
addImageSynthesisImageForm(form, imageSynthesis, this.renderObjectImage, "_id", "image_thirdParty_image_ids");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_class", "image_thirdParty_classes");
}
for (int i = 0; i < this.agents.Count; i++)
{
BaseFPSAgentController agent = this.agents.ToArray() [i];
if (i > 0)
{
this.agents.ToArray() [i - 1].m_Camera.enabled = false;
}
agent.m_Camera.enabled = true;
MetadataWrapper metadata = agent.generateMetadataWrapper();
metadata.agentId = i;
// we don't need to render the agent's camera for the first agent
addImageForm(form, agent);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderDepthImage, "_depth", "image_depth");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderNormalsImage, "_normals", "image_normals");
addObjectImageForm(form, agent, ref metadata);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderClassImage, "_class", "image_classes");
metadata.thirdPartyCameras = cameraMetadata;
multiMeta.agents [i] = metadata;
}
if (this.agents.Count != 1)
{
this.agents.ToArray()[this.agents.Count - 1].m_Camera.enabled = false;
}
this.agents.ToArray()[0].m_Camera.enabled = true;
RenderTexture.active = currentTexture;
//form.AddField("metadata", JsonUtility.ToJson(multiMeta));
form.AddField("metadata", Newtonsoft.Json.JsonConvert.SerializeObject(multiMeta));
form.AddField("token", robosimsClientToken);
#if !UNITY_WEBGL
using (var www = UnityWebRequest.Post("http://" + robosimsHost + ":" + robosimsPort + "/train", form))
{
yield return(www.SendWebRequest());
if (www.isNetworkError || www.isHttpError)
{
Debug.Log("Error: " + www.error);
yield break;
}
ProcessControlCommand(www.downloadHandler.text);
}
#endif
}
void Start()
{
frame = 0;
sintetizer = GetComponent <ImageSynthesis>();
Screen.SetResolution(640, 480, true);
}
void RenderSegmentationInput(Field input, int index)
{
GUILayout.BeginHorizontal(horizontalStyle);
GUILayout.FlexibleSpace();
Texture tex = textureForInputKey(input.name, true);
if (inputData[input.name] != null)
{
RenderTextureInfo(tex);
}
else
{
RenderNotAvailable();
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
GUILayout.Space(5);
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (userPickedObjectForIndex == index)
{
GameObject go = EditorGUIUtility.GetObjectPickerObject() as GameObject;
inputData[input.name] = go;
if (go != null)
{
ImageSynthesis synthesis = go.GetComponent <ImageSynthesis>();
synthesis.labels = input.labels;
synthesis.colors = input.colors;
synthesis.defaultColor = input.defaultColor;
inputWidths[index] = maxWidths[index] = (int)go.GetComponent <Camera>().pixelWidth;
inputHeights[index] = maxHeights[index] = (int)go.GetComponent <Camera>().pixelHeight;
}
userPickedObjectForIndex = -1;
}
if (Event.current.commandName == "ObjectSelectorUpdated" && EditorGUIUtility.GetObjectPickerControlID() == index)
{
userPickedObjectForIndex = index;
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
GUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
if (GUILayout.Button("Select"))
{
EditorGUIUtility.ShowObjectPicker <UnityEngine.Object>(inputData[input.name] as UnityEngine.Object, true, "t:Camera", index);
}
GUILayout.Space(5);
if (GUILayout.Button("Preview"))
{
if (index == 0)
{
inputWindows[index] = GetWindow <RunwayInput1Window>(false, "Runway - Model Input 1", true);
}
else
{
inputWindows[index] = GetWindow <RunwayInput2Window>(false, "Runway - Model Input 2", true);
}
}
GUILayout.Space(5);
if (GUILayout.Button("Save"))
{
string path = EditorUtility.SaveFilePanel("Save as PNG", "", "ModelInput.png", "png");
byte[] data = RunwayUtils.TextureToPNG(tex as Texture2D);
File.WriteAllBytes(path, data);
}
GUILayout.FlexibleSpace();
GUILayout.EndHorizontal();
RenderObjectTagger(input, index);
if (inputData[input.name] != null)
{
if (inputWindows.ContainsKey(index))
{
inputWindows[index].texture = tex;
inputWindows[index].Repaint();
}
}
}
private IEnumerator EmitFrame()
{
frameCounter += 1;
bool shouldRender = this.renderImage && serverSideScreenshot;
if (shouldRender)
{
// we should only read the screen buffer after rendering is complete
yield return(new WaitForEndOfFrame());
if (synchronousHttp)
{
// must wait an additional frame when in synchronous mode otherwise the frame lags
yield return(new WaitForEndOfFrame());
}
}
WWWForm form = new WWWForm();
MultiAgentMetadata multiMeta = new MultiAgentMetadata();
multiMeta.agents = new MetadataWrapper[this.agents.Count];
multiMeta.activeAgentId = this.activeAgentId;
multiMeta.sequenceId = this.currentSequenceId;
ThirdPartyCameraMetadata[] cameraMetadata = new ThirdPartyCameraMetadata[this.thirdPartyCameras.Count];
RenderTexture currentTexture = null;
if (shouldRender)
{
currentTexture = RenderTexture.active;
for (int i = 0; i < this.thirdPartyCameras.Count; i++)
{
ThirdPartyCameraMetadata cMetadata = new ThirdPartyCameraMetadata();
Camera camera = thirdPartyCameras.ToArray()[i];
cMetadata.thirdPartyCameraId = i;
cMetadata.position = camera.gameObject.transform.position;
cMetadata.rotation = camera.gameObject.transform.eulerAngles;
cameraMetadata[i] = cMetadata;
ImageSynthesis imageSynthesis = camera.gameObject.GetComponentInChildren <ImageSynthesis> () as ImageSynthesis;
addThirdPartyCameraImageForm(form, camera);
addImageSynthesisImageForm(form, imageSynthesis, this.renderDepthImage, "_depth", "image_thirdParty_depth");
addImageSynthesisImageForm(form, imageSynthesis, this.renderNormalsImage, "_normals", "image_thirdParty_normals");
addImageSynthesisImageForm(form, imageSynthesis, this.renderObjectImage, "_id", "image_thirdParty_image_ids");
addImageSynthesisImageForm(form, imageSynthesis, this.renderClassImage, "_class", "image_thirdParty_classes");
}
}
for (int i = 0; i < this.agents.Count; i++)
{
BaseFPSAgentController agent = this.agents.ToArray() [i];
MetadataWrapper metadata = agent.generateMetadataWrapper();
metadata.agentId = i;
// we don't need to render the agent's camera for the first agent
if (shouldRender)
{
addImageForm(form, agent);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderDepthImage, "_depth", "image_depth");
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderNormalsImage, "_normals", "image_normals");
addObjectImageForm(form, agent, ref metadata);
addImageSynthesisImageForm(form, agent.imageSynthesis, this.renderClassImage, "_class", "image_classes");
metadata.thirdPartyCameras = cameraMetadata;
}
multiMeta.agents [i] = metadata;
}
if (shouldRender)
{
RenderTexture.active = currentTexture;
}
//form.AddField("metadata", JsonUtility.ToJson(multiMeta));
form.AddField("metadata", Newtonsoft.Json.JsonConvert.SerializeObject(multiMeta));
form.AddField("token", robosimsClientToken);
#if !UNITY_WEBGL
if (synchronousHttp)
{
if (this.sock == null)
{
// Debug.Log("connecting to host: " + robosimsHost);
IPAddress host = IPAddress.Parse(robosimsHost);
IPEndPoint hostep = new IPEndPoint(host, robosimsPort);
try
{
Socket s = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
s.Connect(hostep);
this.sock = s;
}
catch (SocketException ex)
{
# if UNITY_EDITOR
// swallowing the error since its fine to run without the Python side with the editor
yield break;
# else
throw ex;
# endif
}
}
public void CreateImage()
{
Camera camera = view.GetGameObject().GetComponent <Camera>();
int width = ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.ResolutionX;
int height = ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.ResolutionY;
RenderTexture previousActive = RenderTexture.active;
RenderTexture previousCamera = camera.targetTexture;
RenderTextureDescriptor descriptor = new RenderTextureDescriptor(width, height);
camera.targetTexture = new RenderTexture(descriptor);
string targetPath = ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.TargetFolder;
RenderTexture.active = camera.targetTexture;
Texture2D imageTexture = new Texture2D(width, height);
//Create color image
if (ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.ColorPictures)
{
Directory.CreateDirectory(targetPath + "\\Color");
camera.Render();
imageTexture.ReadPixels(new Rect(0, 0, width, height), 0, 0);
imageTexture.Apply();
byte[] bytes = imageTexture.EncodeToPNG();
File.WriteAllBytes(targetPath + "\\Color\\" + ApplicationManager.instance.generatedImages + ".png", bytes);
}
//Create depth image with greyScale
if (ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.DepthPictures)
{
Directory.CreateDirectory(targetPath + "\\Depth");
camera.GetComponent <RenderDepth>().enabled = true;
camera.Render();
imageTexture.ReadPixels(new Rect(0, 0, width, height), 0, 0);
imageTexture.Apply();
byte[] depthBytes = imageTexture.EncodeToPNG();
File.WriteAllBytes(targetPath + "\\Depth\\" + ApplicationManager.instance.generatedImages + ".png", depthBytes);
camera.GetComponent <RenderDepth>().enabled = false;
}
if (ApplicationManager.instance.GlobalSettingsModel.GeneralParameterModel.SegmentationPicture)
{
Directory.CreateDirectory(targetPath + "\\Segmentation");
ImageSynthesis imageSynthesis = camera.GetComponent <ImageSynthesis>();
imageSynthesis.enabled = false;
imageSynthesis.enabled = true;
imageSynthesis.saveDepth = false;
imageSynthesis.saveImage = false;
imageSynthesis.saveOpticalFlow = false;
imageSynthesis.saveNormals = false;
imageSynthesis.saveLayerSegmentation = false;
imageSynthesis.saveIdSegmentation = true;
imageSynthesis.Save(ApplicationManager.instance.generatedImages + ".png", width, height, targetPath + "\\Segmentation");
}
RenderTexture.active = previousActive;
Texture2D.Destroy(imageTexture);
}