/// <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();
}
/// <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;
}
