void Update()
{
LabeledDataUtil.Snapshot(agentCamera,
cameraRenderTexture,
readerTexture,
trainingFilePath,
captureFilePrefix,
labelFileName,
recordCategoryTags,
nDirectionSensors,
wallTag,
counter,
wallHitMultiplier: 0.4f,
storeImages: storeImages);
if (agentRandomControl != null)
{
FileUtils.AppendStringToFile(trainingFilePath + actionFileName, agentRandomControl.currentAction.ToString() + '\n');
}
counter++;
if (counter % 1000 == 0)
{
Debug.LogFormat("counter: {0}", counter);
}
// if (periodicResetter.HasBeenReset()) {
// Debug.Log ("Reset!");
// }
}
// Update is called once per frame
void Update()
{
if (Time.time > nextRecordingTime)
{
nextRecordingTime += recordingPeriod;
FileUtils.AppendStringToFile(progressFileName,
Time.time + "," + rewardManager.GetRewardRate() + "\n");
}
}
/** Render camera, save snapshot and label */
public static void Snapshot(Camera agentCamera,
RenderTexture cameraRenderTexture,
Texture2D readerTexture,
string trainingFilePath,
string captureFilePrefix,
string labelFileName,
string[] recordCategoryTags,
int nDirectionSensors,
string wallTag,
int counter,
float wallHitMultiplier,
bool storeImages)
{
float[] sensorData = GetSensorInfo(agentCamera,
recordCategoryTags,
nDirectionSensors,
wallTag,
wallHitMultiplier);
string labelVector = "";
foreach (float a in sensorData)
{
labelVector += a.ToString();
labelVector += ",";
}
//Debug.Log(labelVector);
if (storeImages)
{
agentCamera.Render();
Color32[] currentImage = MiscUtils.getCurrentCameraImage(cameraRenderTexture, readerTexture);
int downsampleFactor = 2;
currentImage = MathUtils.downSampleImg(currentImage, downsampleFactor);
Texture2D tex = new Texture2D(cameraRenderTexture.width / downsampleFactor, cameraRenderTexture.height / downsampleFactor);
tex.SetPixels32(currentImage);
FileUtils.SaveTextureToFile(tex, trainingFilePath + captureFilePrefix + counter.ToString("D6") + ".png");
}
string trainingLine = labelVector + "\n";
FileUtils.AppendStringToFile(trainingFilePath + labelFileName, trainingLine);
}
