IEnumerator SetCamConfig(int iCamera, float fov, float offset_x, float offset_y, float offset_z, float rot_x,
int img_w, int img_h, int img_d, string img_enc, float fish_eye_x, float fish_eye_y)
{
CameraSensor cam = null;
if (iCamera == 0)
{
cam = camSensor;
}
else
{
cam = camSensorB;
if (cam != null && !cam.gameObject.activeInHierarchy)
{
cam.gameObject.SetActive(true);
}
}
if (cam)
{
cam.SetConfig(fov, offset_x, offset_y, offset_z, rot_x, img_w, img_h, img_d, img_enc);
Fisheye fe = cam.gameObject.GetComponent <Fisheye>();
if (fe != null && (fish_eye_x != 0.0f || fish_eye_y != 0.0f))
{
fe.enabled = true;
fe.strengthX = fish_eye_x;
fe.strengthY = fish_eye_y;
}
}
yield return(null);
}
void Start()
{
cameraSensor = GetComponentInChildren <CameraSensor>();
carState = GetComponent <CarState>();
carController = GetComponent <CarController>();
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Any, DeterminePort());
listener = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
checkpoints = new Checkpoints();
reward = new Reward(checkpoints);
// foreach (GameObject gameObject in checkpoints.checkpointsArray) {
// Debug.Log(gameObject.name);
// }
try {
listener.Bind(localEndPoint);
listener.Listen(1);
BeginAccept();
} catch (Exception e) {
Debug.LogException(e);
}
}
public void TestStackingMapping()
{
// Test grayscale stacked mapping with CameraSensor
var cameraSensor = new CameraSensor(new Camera(), 64, 64,
true, "grayscaleCamera", SensorCompressionType.PNG);
var stackedCameraSensor = new StackingSensor(cameraSensor, 2);
Assert.AreEqual(stackedCameraSensor.GetCompressionSpec().CompressedChannelMapping, new[] { 0, 0, 0, 1, 1, 1 });
// Test RGB stacked mapping with RenderTextureSensor
var renderTextureSensor = new RenderTextureSensor(new RenderTexture(24, 16, 0),
false, "renderTexture", SensorCompressionType.PNG);
var stackedRenderTextureSensor = new StackingSensor(renderTextureSensor, 2);
Assert.AreEqual(stackedRenderTextureSensor.GetCompressionSpec().CompressedChannelMapping, new[] { 0, 1, 2, 3, 4, 5 });
// Test mapping with number of layers not being multiple of 3
var dummySensor = new Dummy3DSensor();
dummySensor.ObservationSpec = ObservationSpec.Visual(2, 2, 4);
dummySensor.Mapping = new[] { 0, 1, 2, 3 };
var stackedDummySensor = new StackingSensor(dummySensor, 2);
Assert.AreEqual(stackedDummySensor.GetCompressionSpec().CompressedChannelMapping, new[] { 0, 1, 2, 3, -1, -1, 4, 5, 6, 7, -1, -1 });
// Test mapping with dummy layers that should be dropped
var paddedDummySensor = new Dummy3DSensor();
paddedDummySensor.ObservationSpec = ObservationSpec.Visual(2, 2, 4);
paddedDummySensor.Mapping = new[] { 0, 1, 2, 3, -1, -1 };
var stackedPaddedDummySensor = new StackingSensor(paddedDummySensor, 2);
Assert.AreEqual(stackedPaddedDummySensor.GetCompressionSpec().CompressedChannelMapping, new[] { 0, 1, 2, 3, -1, -1, 4, 5, 6, 7, -1, -1 });
}
public void TestCameraSensor()
{
foreach (var grayscale in new[] { true, false })
{
foreach (SensorCompressionType compression in Enum.GetValues(typeof(SensorCompressionType)))
{
var width = 24;
var height = 16;
var camera = Camera.main;
var c = new GameObject();
if (ReferenceEquals(null, camera))
{
camera = c.AddComponent <Camera>();
}
var sensor = new CameraSensor(camera, width, height, grayscale, "TestCameraSensor", compression);
var obsWriter = new ObservationWriter();
var obs = sensor.GetObservationProto(obsWriter);
Assert.AreEqual((int)compression, (int)obs.CompressionType);
var expectedShape = new[] { height, width, grayscale ? 1 : 3 };
Assert.AreEqual(expectedShape, obs.Shape);
UnityEngine.Object.DestroyImmediate(c);
}
}
}
/***************************************************/
/*** METHODS ************************/
/***************************************************/
/******** UNITY MESSAGES ************************/
// Use this for initialization
void Start()
{
m_cameraSensor = GetComponent <CameraSensor>();
m_turretSelector = transform.Find("T.O.W.E.L");
m_pew.GetComponent <InflictDamageParticle>().m_damage = SettingsManager.Inst.m_gunDamage;
m_gameStateUi = 1;
DisplayGameState();
}
void DisableAllCamerasExSensors()
{
Camera[] cameras = GameObject.FindObjectsOfType <Camera>();
foreach (Camera cam in cameras)
{
CameraSensor sensor = cam.gameObject.GetComponent <CameraSensor>();
if (sensor != null)
{
continue;
}
cam.gameObject.SetActive(false);
}
}
public void TestObservationType()
{
var width = 24;
var height = 16;
var camera = Camera.main;
var sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None);
var spec = sensor.GetObservationSpec();
Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.Default);
sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None, ObservationType.Default);
spec = sensor.GetObservationSpec();
Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.Default);
sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None, ObservationType.GoalSignal);
spec = sensor.GetObservationSpec();
Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.GoalSignal);
}
// Update is called once per frame
void Update()
{
if (vehicle != null)
{
if (!isConnected && vehicle.Connected)
{
Debug.Log("VehicleAvailable");
Vehicle.INSTANCE = vehicle;
if (SpriteToggle.INSTANCE != null)
{
SpriteToggle.INSTANCE.Appear();
}
if (PedalButton.instance != null)
{
PedalButton.instance.Appear();
}
isConnected = true;
}
if (vehicle.Connected)
{
pedalInputController.Update();
steeringInputController.Update();
vehicle.SetThrottle(pedalInputController.GetThrottleLevel());
vehicle.SetBrake(pedalInputController.GetBrakeLevel());
vehicle.SetSteeringAngle(steeringInputController.getSteeringAngle());
vehicle.Update();
CameraSensor s = (CameraSensor)vehicle.Sensor(SensorType.SENSOR_TYPE_CAMERA_FRONT);
if (s != null)
{
CameraSensorData d = (CameraSensorData)s.Data;
if (d != null)
{
imageTexture.LoadImage(d.ImageData);
cameraDisplay.material.mainTexture = imageTexture;
}
}
}
}
}
//Save the camera sensor to an image. Use the suffix to distinguish between cameras.
void SaveCamSensor(CameraSensor cs, string prefix, string suffix)
{
if (cs != null)
{
Texture2D image = cs.GetImage();
ImageSaveJob ij = new ImageSaveJob();
if (UdacityStyle)
{
ij.filename = GetUdacityStyleImageFilename();
ij.bytes = image.EncodeToJPG();
}
else if (DonkeyStyle)
{
ij.filename = GetDonkeyStyleImageFilename();
ij.bytes = image.EncodeToJPG();
}
else if (DonkeyStyle2)
{
ij.filename = GetDonkey2StyleImageFilename();
ij.bytes = image.EncodeToJPG();
}
else if (SharkStyle)
{
ij.filename = GetSharkStyleImageFilename();
ij.bytes = image.EncodeToJPG();
}
else
{
ij.filename = Application.dataPath + string.Format("/../log/{0}_{1,8:D8}{2}.png", prefix, frameCounter, suffix);
ij.bytes = image.EncodeToPNG();
}
lock (this)
{
imagesToSave.Add(ij);
}
}
}
//Save the camera sensor to an image. Use the suffix to distinguish between cameras.
void SaveCamSensor(CameraSensor cs, string prefix, string suffix)
{
if (cs != null)
{
Texture2D image = cs.GetImage();
ImageSaveJob ij = new ImageSaveJob();
ij.filename = Application.dataPath + string.Format("/../log/{0}_{1,8:D8}{2}.png", prefix, frameCounter, suffix);
ij.bytes = image.EncodeToPNG();
lock (this)
{
imagesToSave.Add(ij);
}
}
}
//Save the camera sensor to an image. Use the suffix to distinguish between cameras.
void SaveCamSensor(CameraSensor cs, string prefix, string suffix)
{
if (cs != null)
{
Texture2D image = cs.GetImage();
ImageSaveJob ij = new ImageSaveJob();
ij.filename = GetImageFileName();
ij.bytes = image.EncodeToJPG();
lock (this)
{
imagesToSave.Add(ij);
}
}
}
void Start()
{
cameraSensor = GetComponentInChildren <CameraSensor>();
carState = GetComponent <CarState>();
carController = GetComponent <CarController>();
IPEndPoint localEndPoint = new IPEndPoint(IPAddress.Any, DeterminePort());
listener = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
try {
listener.Bind(localEndPoint);
listener.Listen(1);
BeginAccept();
} catch (Exception e) {
Debug.LogException(e);
}
}
void Start()
{
agent = GetComponent <ITankAgent>();
if (cameraSensor == null)
{
cameraSensor = GetComponent <CameraSensor>();
}
// wire up to UI images normal/segmented based on player 1 or 2
// yeah this isn't pretty, but we just need something quick.
int playerNumber = agent.GetPlayerNumber() - 1;
// might not need to use this, might be better off manually wiring up for visual agents
normalRenderTexture = normalRTs[playerNumber];
segmentedRenderTexture = segmentedRTs[playerNumber];
normalCam.targetTexture = normalRenderTexture;
cameraSensor.Camera = normalCam;
}
public void TestCameraSensor()
{
foreach (var grayscale in new[] { true, false })
{
foreach (SensorCompressionType compression in Enum.GetValues(typeof(SensorCompressionType)))
{
var width = 24;
var height = 16;
var camera = Camera.main;
var sensor = new CameraSensor(camera, width, height, grayscale, "TestCameraSensor", compression);
var obsWriter = new ObservationWriter();
var obs = sensor.GetObservationProto(obsWriter);
Assert.AreEqual((int)compression, (int)obs.CompressionType);
var expectedShape = new[] { height, width, grayscale ? 1 : 3 };
Assert.AreEqual(expectedShape, obs.Shape);
}
}
}
IEnumerator SetCamConfig(float fov, float offset_x, float offset_y, float offset_z, float rot_x,
int img_w, int img_h, int img_d, string img_enc, float fish_eye_x, float fish_eye_y)
{
CameraSensor camSensor = carObj.transform.GetComponentInChildren <CameraSensor>();
if (camSensor)
{
camSensor.SetConfig(fov, offset_x, offset_y, offset_z, rot_x, img_w, img_h, img_d, img_enc);
Fisheye fe = camSensor.gameObject.GetComponent <Fisheye>();
if (fe != null && (fish_eye_x != 0.0f || fish_eye_y != 0.0f))
{
fe.enabled = true;
fe.strengthX = fish_eye_x;
fe.strengthY = fish_eye_y;
}
}
yield return(null);
}
public PhotoBoothViewModel()
{
this.cameraSensor = new CameraSensor(KinectSensor.GetDefault());
this.CameraImageSource = this.cameraSensor.Camera;
this.cameraSensor.PersonEnters += (s, e) =>
{
this.peoplePresentCount++;
if (this.peoplePresentCount == 1)
{
this.stateMachine.EnterFirstPerson();
}
};
this.cameraSensor.PersonLeaves += (s, e) =>
{
this.peoplePresentCount--;
if (this.peoplePresentCount == 0)
{
this.stateMachine.LeaveLastPerson();
}
};
this.stateMachine.EnteredWaitingForPresence += (s, e) =>
{
this.OverlayImageSource = null;
this.cameraSensor.IsCameraPaused = false;
};
this.stateMachine.EnteredCountdown += (s, e) =>
{
SetOverlayImage();
StartCountdownTimer();
};
this.stateMachine.LeftCountdown += (s, e) =>
{
EnsureStoppedCountdownTimer();
};
this.stateMachine.EnteredTakeSnapshot += (s, e) =>
{
this.cameraSensor.IsCameraPaused = true;
this.FlashingBackground = true;
ImageSaver.SaveImage(this.CameraImageSource, this.OverlayImageSource);
};
this.stateMachine.LeftTakeSnapshot += (s, e) =>
{
this.FlashingBackground = false;
};
this.stateMachine.EnteredFinished += (s, e) =>
{
this.FullScreenMessage = Properties.Resources.FinishedMessage;
};
this.stateMachine.LeftFinished += (s, e) =>
{
this.FullScreenMessage = string.Empty;
this.cameraSensor.IsCameraPaused = false;
};
}
// Update is called once per frame
void Update()
{
if (vehicle != null)
{
if (!isConnected && vehicle.Connected)
{
Debug.Log("VehicleAvailable");
isConnected = true;
vehicle.SetGear(GearDirection.GEAR_DIRECTION_FORWARD);
}
if (vehicle.Connected)
{
changeUItoDriveMode();
if (Input.GetKeyDown(KeyCode.Q))
{
vehicle.SetGear(GearDirection.GEAR_DIRECTION_NEUTRAL);
}
else if (Input.GetKeyDown(KeyCode.W))
{
vehicle.SetGear(GearDirection.GEAR_DIRECTION_FORWARD);
}
else if (Input.GetKeyDown(KeyCode.E))
{
vehicle.SetGear(GearDirection.GEAR_DIRECTION_BACKWARD);
}
turningAngle = Input.acceleration.x;
vehicle.SetSteeringAngle(turningAngle);
//vehicle.SetThrottle(Input.GetAxis("Vertical"));
//vehicle.SetBrake(Mathf.Clamp01(-Input.GetAxis("Vertical")));
vehicle.SetThrottle(throttle);
vehicle.SetBrake(brake);
//vehicle.SetSteeringAngle(Input.GetAxis("Horizontal"));
vehicle.Update();
CameraSensor s = (CameraSensor)vehicle.Sensor(SensorType.SENSOR_TYPE_CAMERA_FRONT);
if (s != null)
{
CameraSensorData d = (CameraSensorData)s.Data;
if (d != null)
{
imageTexture.LoadImage(d.ImageData);
cameraDisplay.material.mainTexture = imageTexture;
}
}
status = vehicle.Status;
updateSpeedDisplay();
}
}
else
{
setGear.gameObject.SetActive(false);
brakeSlider.gameObject.SetActive(false);
throtleSlider.gameObject.SetActive(false);
shownGear.gameObject.SetActive(false);
speed.gameObject.SetActive(false);;
}
}
