using System; using UnityEngine; namespace MLAgents.Sensor { public class CameraSensor : ISensor { Camera m_Camera; int m_Width; int m_Height; bool m_Grayscale; string m_Name; int[] m_Shape; public CameraSensor(Camera camera, int width, int height, bool grayscale, string name) { m_Camera = camera; m_Width = width; m_Height = height; m_Grayscale = grayscale; m_Name = name; m_Shape = new[] { height, width, grayscale ? 1 : 3 }; } public string GetName() { return m_Name; } public int[] GetFloatObservationShape() { return m_Shape; } public byte[] GetCompressedObservation() { using (TimerStack.Instance.Scoped("CameraSensor.GetCompressedObservation")) { var texture = ObservationToTexture(m_Camera, m_Width, m_Height); // TODO support more types here, e.g. JPG var compressed = texture.EncodeToPNG(); UnityEngine.Object.Destroy(texture); return compressed; } } public int Write(WriteAdapter adapter) { using (TimerStack.Instance.Scoped("CameraSensor.WriteToTensor")) { var texture = ObservationToTexture(m_Camera, m_Width, m_Height); var numWritten = Utilities.TextureToTensorProxy(texture, adapter, m_Grayscale); UnityEngine.Object.Destroy(texture); return numWritten; } } public void Update() { } public SensorCompressionType GetCompressionType() { return SensorCompressionType.PNG; } /// /// Converts a m_Camera and corresponding resolution to a 2D texture. /// /// The 2D texture. /// Camera. /// Width of resulting 2D texture. /// Height of resulting 2D texture. /// Texture2D to render to. public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height) { var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false); var oldRec = obsCamera.rect; obsCamera.rect = new Rect(0f, 0f, 1f, 1f); var depth = 24; var format = RenderTextureFormat.Default; var readWrite = RenderTextureReadWrite.Default; var tempRt = RenderTexture.GetTemporary(width, height, depth, format, readWrite); var prevActiveRt = RenderTexture.active; var prevCameraRt = obsCamera.targetTexture; // render to offscreen texture (readonly from CPU side) RenderTexture.active = tempRt; obsCamera.targetTexture = tempRt; obsCamera.Render(); texture2D.ReadPixels(new Rect(0, 0, texture2D.width, texture2D.height), 0, 0); obsCamera.targetTexture = prevCameraRt; obsCamera.rect = oldRec; RenderTexture.active = prevActiveRt; RenderTexture.ReleaseTemporary(tempRt); return texture2D; } } }