/// <summary>
/// Sets a custom texture as input for an observation,
/// replacing an agent camera.
/// (Multiple agents can use the same texture ID. In that case,
/// the corresponding textures are expected to be the same size.)
/// Optionally matches the corresponding observation size to the
/// texture size.
/// </summary>
/// <param name="agent">Agent.</param>
/// <param name="id">Texture ID, must match inspector value.</param>
/// <param name="texture">Texture2D.</param>
/// <param name="autoSizeObservation">Defaults to false.</param>
/// <returns>Dictionary length.</returns>
public int SetCustomTexture(Agent agent,
string id,
Texture2D texture,
bool autoSizeObservation = false)
{
if (HasObservations())
{
int i = 0;
for (; i < observations.Length; i++)
{
if (observations[i].textureID == id)
{
break;
}
}
if (i == observations.Length)
{
throw new UnityAgentsException(string.Format(
"Texture ID {0} not found in observations.", id));
}
if (autoSizeObservation)
{
observations[i].width = texture.width;
observations[i].height = texture.height;
UpdateResolutions();
TextureHelper[] texHelpers = GetAgentTextureHelpers(agent);
texHelpers[i].CreateBuffer(observations[i]);
}
string key = id + agent.GetInstanceID();
customTextures.Add(key, texture);
return(customTextures.Count);
}
else
{
throw new UnityAgentsException(string.Format(
"Brain {0} has no visual observations.",
GetComponent <Brain>().gameObject.name));
}
}
/// <summary>
/// Called from Agent's SendInfoToBrain method.
/// Populates the agent's info.visualObservations list with textures
/// from the agent cameras, the camera buffers and optional custom
/// textures, based on the Observation settings.
/// </summary>
/// <param name="agent">Agent.</param>
/// <param name="agentVisualObservations">
/// The agent's info.visualObservations list.</param>
public void ApplyObservations(Agent agent,
List <Texture2D> agentVisualObservations)
{
if (HasObservations())
{
Camera[] cameras = agent.agentParameters.agentCameras.ToArray();
if (numCameras > cameras.Length)
{
throw new UnityAgentsException(string.Format(
"Not enough cameras for agent {0}: Brain {1} expects at"
+ " least {2} cameras but only {3} are present.",
agent.gameObject.name, agent.brain.gameObject.name,
numCameras, cameras.Length));
}
TextureHelper[] texHelpers = GetAgentTextureHelpers(agent);
// Assuming agent's camera order matches observations order
// in inspector.
int camIndex = 0;
for (int i = 0, n = observations.Length; i < n; i++)
{
if (string.IsNullOrEmpty(observations[i].textureID))
{
Agent.ObservationToTexture(cameras[camIndex++],
observations[i].width,
observations[i].height,
ref texHelpers[i].input);
}
else
{
Texture2D tmp;
string key = observations[i].textureID
+ agent.GetInstanceID();
if (customTextures.TryGetValue(key, out tmp))
{
if (tmp.width != observations[i].width ||
tmp.height != observations[i].height)
{
throw new UnityAgentsException(string.Format(
"Custom texture size {0} x {1} does not match "
+ " observation size {2} x {3}.",
tmp.width, tmp.height,
observations[i].width, observations[i].height));
}
TextureHelper.CopyTexture(tmp, texHelpers[i].input);
}
else
{
throw new UnityAgentsException(string.Format(
"Custom texture {0} not found for agent {1}.",
observations[i].textureID,
agent.gameObject.name));
}
}
texHelpers[i].ApplyBuffer(observations[i],
agentVisualObservations);
}
}
}
