private Vector3 agentStartPosition(DiscreteRemoteFPSAgentController agent)
{
Transform t = agent.transform;
Vector3[] castDirections = new Vector3[] { t.forward, t.forward * -1, t.right, t.right * -1 };
RaycastHit maxHit = new RaycastHit();
Vector3 maxDirection = Vector3.zero;
RaycastHit hit;
CharacterController charContr = agent.m_CharacterController;
Vector3 p1 = t.position + charContr.center + Vector3.up * -charContr.height * 0.5f;
Vector3 p2 = p1 + Vector3.up * charContr.height;
foreach (Vector3 d in castDirections)
{
if (Physics.CapsuleCast(p1, p2, charContr.radius, d, out hit))
{
if (hit.distance > maxHit.distance)
{
maxHit = hit;
maxDirection = d;
}
}
}
if (maxHit.distance > (charContr.radius * 5))
{
return(t.position + (maxDirection * (charContr.radius * 4)));
}
return(Vector3.zero);
}
void Start()
{
primaryAgent = GameObject.Find("FPSController").GetComponent <DiscreteRemoteFPSAgentController>();
primaryAgent.actionDuration = this.actionDuration;
readyToEmit = true;
this.agents.Add(primaryAgent);
}
private void updateAgentColor(DiscreteRemoteFPSAgentController agent, Color color)
{
foreach (MeshRenderer r in agent.gameObject.GetComponentsInChildren <MeshRenderer> () as MeshRenderer[])
{
foreach (Material m in r.materials)
{
m.color = color;
}
}
}
private void addClassImageForm(WWWForm form, DiscreteRemoteFPSAgentController agent)
{
if (this.renderClassImage)
{
if (!agent.imageSynthesis.hasCapturePass("_class"))
{
Debug.LogError("class image not available - sending empty image");
}
byte[] bytes = agent.imageSynthesis.Encode("_class");
form.AddBinaryData("image_classes", bytes);
}
}
private void addImageForm(WWWForm form, DiscreteRemoteFPSAgentController agent, bool renderCamera)
{
if (this.renderImage)
{
if (renderCamera)
{
RenderTexture.active = agent.m_Camera.activeTexture;
agent.m_Camera.Render();
}
form.AddBinaryData("image", captureScreen());
}
}
private void addDepthImageForm(WWWForm form, DiscreteRemoteFPSAgentController agent)
{
if (this.renderDepthImage)
{
if (!agent.imageSynthesis.hasCapturePass("_depth"))
{
Debug.LogError("Depth image not available - returning empty image");
}
byte[] bytes = agent.imageSynthesis.Encode("_depth");
form.AddBinaryData("image_depth", bytes);
}
}
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];
multiMeta.activeAgentId = this.activeAgentId;
multiMeta.sequenceId = this.currentSequenceId;
RenderTexture currentTexture = RenderTexture.active;
for (int i = 0; i < this.agents.Count; i++)
{
DiscreteRemoteFPSAgentController 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
addImageForm(form, agent, i > 0);
addDepthImageForm(form, agent);
addObjectImageForm(form, agent, ref metadata);
addClassImageForm(form, agent);
multiMeta.agents [i] = metadata;
}
RenderTexture.active = currentTexture;
form.AddField("metadata", JsonUtility.ToJson(multiMeta));
form.AddField("token", robosimsClientToken);
WWW w = new WWW("http://" + robosimsHost + ":" + robosimsPort + "/train", form);
yield return(w);
if (!string.IsNullOrEmpty(w.error))
{
Debug.Log("Error: " + w.error);
yield break;
}
else
{
ProcessControlCommand(w.text);
}
}
private void addAgent(ServerAction action)
{
Vector3 clonePosition = agentStartPosition(primaryAgent);
if (clonePosition.magnitude > 0)
{
GameObject visCapsule = primaryAgent.transform.Find("VisibilityCapsule").gameObject;
visCapsule.SetActive(true);
DiscreteRemoteFPSAgentController clone = UnityEngine.Object.Instantiate(primaryAgent);
clone.actionDuration = this.actionDuration;
clone.m_Camera.targetDisplay = this.agents.Count;
clone.transform.position = clonePosition;
updateAgentColor(clone, agentColors[this.agents.Count]);
clone.ProcessControlCommand(action);
this.agents.Add(clone);
}
else
{
Debug.LogError("couldn't find a valid start position for a new agent");
}
}
private void addObjectImageForm(WWWForm form, DiscreteRemoteFPSAgentController agent, ref MetadataWrapper metadata)
{
if (this.renderObjectImage)
{
if (!agent.imageSynthesis.hasCapturePass("_id"))
{
Debug.LogError("Object Image not available in imagesynthesis - returning empty image");
}
byte[] bytes = agent.imageSynthesis.Encode("_id");
form.AddBinaryData("image_ids", bytes);
Color[] id_image = agent.imageSynthesis.tex.GetPixels();
Dictionary <Color, int[]> colorBounds = new Dictionary <Color, int[]> ();
for (int yy = 0; yy < tex.height; yy++)
{
for (int xx = 0; xx < tex.width; xx++)
{
Color colorOn = id_image [yy * tex.width + xx];
if (!colorBounds.ContainsKey(colorOn))
{
colorBounds [colorOn] = new int[] { xx, yy, xx, yy };
}
else
{
int[] oldPoint = colorBounds [colorOn];
if (xx < oldPoint [0])
{
oldPoint [0] = xx;
}
if (yy < oldPoint [1])
{
oldPoint [1] = yy;
}
if (xx > oldPoint [2])
{
oldPoint [2] = xx;
}
if (yy > oldPoint [3])
{
oldPoint [3] = yy;
}
}
}
}
List <ColorBounds> boundsList = new List <ColorBounds> ();
foreach (Color key in colorBounds.Keys)
{
ColorBounds bounds = new ColorBounds();
bounds.color = new byte[] {
(byte)Math.Round(key.r * 255),
(byte)Math.Round(key.g * 255),
(byte)Math.Round(key.b * 255)
};
bounds.bounds = colorBounds [key];
boundsList.Add(bounds);
}
metadata.colorBounds = boundsList.ToArray();
List <ColorId> colors = new List <ColorId> ();
foreach (Color key in agent.imageSynthesis.colorIds.Keys)
{
ColorId cid = new ColorId();
cid.color = new byte[] {
(byte)Math.Round(key.r * 255),
(byte)Math.Round(key.g * 255),
(byte)Math.Round(key.b * 255)
};
cid.name = agent.imageSynthesis.colorIds [key];
colors.Add(cid);
}
metadata.colors = colors.ToArray();
}
}
