private void ChangeResolution(int cameraWidth, int cameraHeight, bool grayscale)
{
CameraSensorComponent cameraSensor = arena.transform.FindChildWithTag("agent").GetComponent <CameraSensorComponent>();
cameraSensor.width = cameraWidth;
cameraSensor.height = cameraHeight;
cameraSensor.grayscale = grayscale;
}
private void Awake()
{
if (vehicleController == null)
{
vehicleController = GetComponent <NewCarController>();
}
if (agentRigidbody == null)
{
agentRigidbody = GetComponent <Rigidbody>();
}
if (depth == null)
{
depth = GetComponent <CameraSensorComponent>();
}
if (target == null)
{
target = transform.parent.Find("Target");
}
agentStartPosition = transform.position;
agentStartRotation = transform.rotation;
if (!training)
{
return;
}
if (env == null)
{
env = GetComponentInParent <RandomEnvironment>();
}
if (objectSpawner == null)
{
objectSpawner = transform.parent.Find("Object Spawner").GetComponent <ObjectSpawner>();
}
transform.parent = env.transform;
transform.localPosition = Vector3.zero;
maxDistanceFromStart = Mathf.Max(
env.length / 2,
env.width / 2
) * 1.25f;
maxDistanceFromStartSq = maxDistanceFromStart * maxDistanceFromStart;
}
private void SetCameraSensor()
{
CameraSensorComponent sensorCamTopView = Cutter.AddComponent <CameraSensorComponent>();
sensorCamTopView.camera = GameObject.Find("Cam_CutterTopView").GetComponent <Camera>();
sensorCamTopView.sensorName = "CameraTopView";
sensorCamTopView.width = sensorCamWidthTopView;
sensorCamTopView.height = sensorCamHeightTopView;
sensorCamTopView.grayscale = false;
sensorCamTopView.compression = SensorCompressionType.PNG;
CameraSensorComponent sensorCamTopViewInverse = Cutter.AddComponent <CameraSensorComponent>();
sensorCamTopViewInverse.camera = GameObject.Find("Cam_CutterTopViewInverse").GetComponent <Camera>();
sensorCamTopViewInverse.sensorName = "CameraTopViewInverse";
sensorCamTopViewInverse.width = sensorCamWidthTopViewInverse;
sensorCamTopViewInverse.height = sensorCamHeightTopViewInverse;
sensorCamTopViewInverse.grayscale = false;
sensorCamTopViewInverse.compression = SensorCompressionType.PNG;
}
static public void UpdateComponents()
{
trainingCameras.Clear();
candidatesCameras.Clear();
GameObject cameraContainer = GameObject.Find("CameraContainer");
GameObject agent = GameObject.Find("Agent");
int childs = cameraContainer.transform.childCount;
for (int i = childs - 1; i >= 0; i--)
{
DestroyImmediate(cameraContainer.transform.GetChild(i).gameObject);
}
GameObject info = GameObject.Find("Info");
childs = info.transform.childCount;
string infoTxt = "K:" + numCameraSets.ToString() + "_St:" + numSt.ToString() + "_Sc:" + numSc.ToString() + "_Ft:" + numFt.ToString() + "_Fc:" + numFc.ToString() + "_SC:" + sizeCanvas.ToString() + "_g:" + grayscale.ToString();
UnityEngine.Debug.Log("BUILDING INFO TXT " + infoTxt);
info.transform.GetChild(0).name = infoTxt;
GameObject.Find("DebugText").GetComponent <Text>().text = infoTxt;
List <CameraSensorComponent> camComp = new List <CameraSensorComponent>(agent.GetComponents <CameraSensorComponent>());
foreach (CameraSensorComponent cam in camComp)
{
DestroyImmediate(cam);
}
int totIndexT = 0;
int totIndexC = 0;
for (int k = 0; k < numCameraSets; k++)
{
GameObject candidateCamera = GameObject.Find("CandidateCamera"); // remember to take this out from the sensorlist
for (int sc = 0; sc < numSc; sc++)
{
for (int fsc = 0; fsc < numFc; fsc++)
{
candidatesCameras.Add(Instantiate(candidateCamera));
candidatesCameras[totIndexC].transform.parent = cameraContainer.transform;
candidatesCameras[totIndexC].name = "C" + k.ToString("D3") + "S" + sc.ToString("D3") + "F" + fsc.ToString("D3");
candidatesCameras[totIndexC].SetActive(false);
totIndexC += 1;
}
}
}
for (int k = 0; k < numCameraSets; k++)
{
GameObject trainingCamera = GameObject.Find("TrainingCamera"); // remember to take this out from the sensorlist
for (int st = 0; st < numSt; st++)
{
for (int fst = 0; fst < numFt; fst++)
{
trainingCameras.Add(Instantiate(trainingCamera));
trainingCameras[totIndexT].transform.parent = cameraContainer.transform;
trainingCameras[totIndexT].name = "T" + k.ToString("D3") + "S" + st.ToString("D3") + "F" + fst.ToString("D3");
trainingCameras[totIndexT].SetActive(false);
totIndexT += 1;
}
}
}
//Add Cameras to Agent
Assert.IsTrue(candidatesCameras.Count == numCameraSets * numFc * numSc);
Assert.IsTrue(trainingCameras.Count == numCameraSets * numFt * numSt);
foreach (GameObject traingCam in trainingCameras)
{
CameraSensorComponent cmtmp = agent.AddComponent <CameraSensorComponent>();
cmtmp.Camera = traingCam.GetComponent <Camera>();
cmtmp.SensorName = traingCam.name;
cmtmp.Width = sizeCanvas;
cmtmp.Height = sizeCanvas;
cmtmp.Grayscale = grayscale == 1;
}
foreach (GameObject candidCam in candidatesCameras) // N * K
{
CameraSensorComponent cmtmp = agent.AddComponent <CameraSensorComponent>();
cmtmp.Camera = candidCam.GetComponent <Camera>();
cmtmp.SensorName = candidCam.name;
cmtmp.Width = sizeCanvas;
cmtmp.Height = sizeCanvas;
cmtmp.Grayscale = grayscale == 1;
}
// Includes labels, and N*K+K*Q vector3s
//UnityEngine.Debug.Log((N * K + K * Q) + 3 * (N * K + K * Q));
// If numSc is 0, then we only send 1 set of labels (the training ones), otherwise we send two (training and the paired one)
agent.GetComponent <BehaviorParameters>().BrainParameters.VectorObservationSize = (numCameraSets * (numSc > 0 ? 2 : 1)) + (numFt * numSt + numFc * numSc) * numCameraSets * 3;
#if UNITY_EDITOR
EditorSceneManager.MarkSceneDirty(EditorSceneManager.GetActiveScene());
EditorSceneManager.SaveScene(EditorSceneManager.GetActiveScene());
#endif
}
static public void UpdateComponents()
{
testingCameras.Clear();
supportCameras.Clear();
GameObject cameraContainer = GameObject.Find("CameraContainer");
GameObject agent = GameObject.Find("Agent");
UnityEngine.Debug.Log("CAMERA CONTAINER: ");
UnityEngine.Debug.Log(cameraContainer);
int childs = cameraContainer.transform.childCount;
for (int i = childs - 1; i >= 0; i--)
{
DestroyImmediate(cameraContainer.transform.GetChild(i).gameObject);
}
GameObject info = GameObject.Find("Info");
childs = info.transform.childCount;
for (int i = childs - 1; i >= 0; i--)
{
DestroyImmediate(info.transform.GetChild(i).gameObject);
}
string infoTxt = "N:" + N.ToString() + "_K:" + K.ToString() + "_Q:" + Q.ToString() + "_SC:" + sizeCanvas.ToString() + "_d:" + nameDataset.ToString();
var infoObj = new GameObject(infoTxt);
infoObj.transform.parent = info.transform;
GameObject.Find("DebugText").GetComponent <Text>().text = infoTxt;
List <CameraSensorComponent> camComp = new List <CameraSensorComponent>(agent.GetComponents <CameraSensorComponent>());
foreach (CameraSensorComponent cam in camComp)
{
DestroyImmediate(cam);
}
// UnityEngine.Debug.Log("CIAO");
int totIndex = 0;
for (int k = 0; k < K; k++)
{
GameObject supportCamera = GameObject.Find("SupportCamera"); // remember to take this out from the sensorlist
for (int n = 0; n < N; n++)
{
supportCameras.Add(Instantiate(supportCamera));
supportCameras[totIndex].transform.parent = cameraContainer.transform;
supportCameras[totIndex].name = (n + N * k).ToString("D3") + "_SupportCamera";
supportCameras[totIndex].SetActive(false);
totIndex += 1;
}
}
int thisIndex = 0;
for (int k = 0; k < K; k++)
{
GameObject testCamera = GameObject.Find("QueryCamera"); // remember to take this out from the sensorlist
for (int q = 0; q < Q; q++)
{
testingCameras.Add(Instantiate(testCamera));
testingCameras[thisIndex].transform.parent = cameraContainer.transform;
// we want the test Cameras to be sent at the end, and since it's sent to python in alph, we prefix with an increasing number
testingCameras[thisIndex].name = (totIndex).ToString("D3") + "_QueryCamera";
testingCameras[thisIndex].SetActive(false);
totIndex += 1;
thisIndex += 1;
}
}
//Add Cameras to Agent
Assert.IsTrue(supportCameras.Count == N * K);
foreach (GameObject testingCam in testingCameras)
{
CameraSensorComponent cmtmp = agent.AddComponent <CameraSensorComponent>();
cmtmp.Camera = testingCam.GetComponent <Camera>();
cmtmp.SensorName = testingCam.name;
cmtmp.Width = sizeCanvas;
cmtmp.Height = sizeCanvas;
}
foreach (GameObject supportCam in supportCameras) // N * K
{
CameraSensorComponent cmtmp = agent.AddComponent <CameraSensorComponent>();
cmtmp.Camera = supportCam.GetComponent <Camera>();
cmtmp.SensorName = supportCam.name;
cmtmp.Width = sizeCanvas;
cmtmp.Height = sizeCanvas;
}
agent.GetComponent <BehaviorParameters>().BrainParameters.VectorObservationSize = N * K + K * Q;
}
