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231 行
9.7 KiB
231 行
9.7 KiB
using NUnit.Framework;
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using System;
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using System.Linq;
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using UnityEngine;
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using Unity.MLAgents.Sensors;
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namespace Unity.MLAgents.Tests
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{
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public class StackingSensorTests
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{
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[Test]
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public void TestCtor()
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{
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ISensor wrapped = new VectorSensor(4);
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ISensor sensor = new StackingSensor(wrapped, 4);
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Assert.AreEqual("StackingSensor_size4_VectorSensor_size4", sensor.GetName());
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Assert.AreEqual(sensor.GetObservationSpec().Shape, new InplaceArray<int>(16));
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}
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[Test]
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public void TestVectorStacking()
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{
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VectorSensor wrapped = new VectorSensor(2);
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ISensor sensor = new StackingSensor(wrapped, 3);
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wrapped.AddObservation(new[] { 1f, 2f });
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
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sensor.Update();
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wrapped.AddObservation(new[] { 3f, 4f });
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
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sensor.Update();
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wrapped.AddObservation(new[] { 5f, 6f });
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SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
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sensor.Update();
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wrapped.AddObservation(new[] { 7f, 8f });
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SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
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sensor.Update();
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wrapped.AddObservation(new[] { 9f, 10f });
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SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
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// Check that if we don't call Update(), the same observations are produced
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SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
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}
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[Test]
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public void TestVectorStackingReset()
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{
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VectorSensor wrapped = new VectorSensor(2);
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ISensor sensor = new StackingSensor(wrapped, 3);
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wrapped.AddObservation(new[] { 1f, 2f });
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
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sensor.Update();
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wrapped.AddObservation(new[] { 3f, 4f });
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
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sensor.Reset();
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wrapped.AddObservation(new[] { 5f, 6f });
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SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 5f, 6f });
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}
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class Dummy3DSensor : ISparseChannelSensor
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{
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public SensorCompressionType CompressionType = SensorCompressionType.PNG;
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public int[] Mapping;
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public ObservationSpec ObservationSpec;
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public float[,,] CurrentObservation;
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internal Dummy3DSensor()
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{
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}
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public ObservationSpec GetObservationSpec()
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{
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return ObservationSpec;
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}
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public int Write(ObservationWriter writer)
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{
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for (var h = 0; h < ObservationSpec.Shape[0]; h++)
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{
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for (var w = 0; w < ObservationSpec.Shape[1]; w++)
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{
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for (var c = 0; c < ObservationSpec.Shape[2]; c++)
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{
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writer[h, w, c] = CurrentObservation[h, w, c];
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}
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}
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}
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return ObservationSpec.Shape[0] * ObservationSpec.Shape[1] * ObservationSpec.Shape[2];
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}
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public byte[] GetCompressedObservation()
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{
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var writer = new ObservationWriter();
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var flattenedObservation = new float[ObservationSpec.Shape[0] * ObservationSpec.Shape[1] * ObservationSpec.Shape[2]];
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writer.SetTarget(flattenedObservation, ObservationSpec.Shape, 0);
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Write(writer);
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byte[] bytes = Array.ConvertAll(flattenedObservation, (z) => (byte)z);
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return bytes;
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}
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public void Update() { }
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public void Reset() { }
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public SensorCompressionType GetCompressionType()
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{
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return CompressionType;
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}
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public string GetName()
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{
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return "Dummy";
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}
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public int[] GetCompressedChannelMapping()
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{
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return Mapping;
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}
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}
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[Test]
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public void TestStackingMapping()
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{
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// Test grayscale stacked mapping with CameraSensor
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var cameraSensor = new CameraSensor(new Camera(), 64, 64,
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true, "grayscaleCamera", SensorCompressionType.PNG);
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var stackedCameraSensor = new StackingSensor(cameraSensor, 2);
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Assert.AreEqual(stackedCameraSensor.GetCompressedChannelMapping(), new[] { 0, 0, 0, 1, 1, 1 });
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// Test RGB stacked mapping with RenderTextureSensor
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var renderTextureSensor = new RenderTextureSensor(new RenderTexture(24, 16, 0),
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false, "renderTexture", SensorCompressionType.PNG);
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var stackedRenderTextureSensor = new StackingSensor(renderTextureSensor, 2);
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Assert.AreEqual(stackedRenderTextureSensor.GetCompressedChannelMapping(), new[] { 0, 1, 2, 3, 4, 5 });
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// Test mapping with number of layers not being multiple of 3
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var dummySensor = new Dummy3DSensor();
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dummySensor.ObservationSpec = ObservationSpec.Visual(2, 2, 4);
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dummySensor.Mapping = new[] { 0, 1, 2, 3 };
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var stackedDummySensor = new StackingSensor(dummySensor, 2);
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Assert.AreEqual(stackedDummySensor.GetCompressedChannelMapping(), new[] { 0, 1, 2, 3, -1, -1, 4, 5, 6, 7, -1, -1 });
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// Test mapping with dummy layers that should be dropped
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var paddedDummySensor = new Dummy3DSensor();
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paddedDummySensor.ObservationSpec = ObservationSpec.Visual(2, 2, 4);
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paddedDummySensor.Mapping = new[] { 0, 1, 2, 3, -1, -1 };
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var stackedPaddedDummySensor = new StackingSensor(paddedDummySensor, 2);
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Assert.AreEqual(stackedPaddedDummySensor.GetCompressedChannelMapping(), new[] { 0, 1, 2, 3, -1, -1, 4, 5, 6, 7, -1, -1 });
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}
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[Test]
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public void Test3DStacking()
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{
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var wrapped = new Dummy3DSensor();
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wrapped.ObservationSpec = ObservationSpec.Visual(2, 1, 2);
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var sensor = new StackingSensor(wrapped, 2);
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// Check the stacking is on the last dimension
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wrapped.CurrentObservation = new[, ,] { { { 1f, 2f } }, { { 3f, 4f } } };
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SensorTestHelper.CompareObservation(sensor, new[, ,] { { { 0f, 0f, 1f, 2f } }, { { 0f, 0f, 3f, 4f } } });
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sensor.Update();
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wrapped.CurrentObservation = new[, ,] { { { 5f, 6f } }, { { 7f, 8f } } };
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SensorTestHelper.CompareObservation(sensor, new[, ,] { { { 1f, 2f, 5f, 6f } }, { { 3f, 4f, 7f, 8f } } });
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sensor.Update();
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wrapped.CurrentObservation = new[, ,] { { { 9f, 10f } }, { { 11f, 12f } } };
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SensorTestHelper.CompareObservation(sensor, new[, ,] { { { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } } });
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// Check that if we don't call Update(), the same observations are produced
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SensorTestHelper.CompareObservation(sensor, new[, ,] { { { 5f, 6f, 9f, 10f } }, { { 7f, 8f, 11f, 12f } } });
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// Test reset
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sensor.Reset();
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wrapped.CurrentObservation = new[, ,] { { { 13f, 14f } }, { { 15f, 16f } } };
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SensorTestHelper.CompareObservation(sensor, new[, ,] { { { 0f, 0f, 13f, 14f } }, { { 0f, 0f, 15f, 16f } } });
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}
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[Test]
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public void TestStackedGetCompressedObservation()
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{
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var wrapped = new Dummy3DSensor();
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wrapped.ObservationSpec = ObservationSpec.Visual(1, 1, 3);
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var sensor = new StackingSensor(wrapped, 2);
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wrapped.CurrentObservation = new[, ,] { { { 1f, 2f, 3f } } };
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var expected1 = sensor.CreateEmptyPNG();
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expected1 = expected1.Concat(Array.ConvertAll(new[] { 1f, 2f, 3f }, (z) => (byte)z)).ToArray();
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Assert.AreEqual(sensor.GetCompressedObservation(), expected1);
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sensor.Update();
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wrapped.CurrentObservation = new[, ,] { { { 4f, 5f, 6f } } };
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var expected2 = Array.ConvertAll(new[] { 1f, 2f, 3f, 4f, 5f, 6f }, (z) => (byte)z);
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Assert.AreEqual(sensor.GetCompressedObservation(), expected2);
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sensor.Update();
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wrapped.CurrentObservation = new[, ,] { { { 7f, 8f, 9f } } };
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var expected3 = Array.ConvertAll(new[] { 4f, 5f, 6f, 7f, 8f, 9f }, (z) => (byte)z);
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Assert.AreEqual(sensor.GetCompressedObservation(), expected3);
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// Test reset
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sensor.Reset();
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wrapped.CurrentObservation = new[, ,] { { { 10f, 11f, 12f } } };
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var expected4 = sensor.CreateEmptyPNG();
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expected4 = expected4.Concat(Array.ConvertAll(new[] { 10f, 11f, 12f }, (z) => (byte)z)).ToArray();
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Assert.AreEqual(sensor.GetCompressedObservation(), expected4);
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}
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[Test]
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public void TestStackingSensorBuiltInSensorType()
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{
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var dummySensor = new Dummy3DSensor();
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dummySensor.ObservationSpec = ObservationSpec.Visual(2, 2, 4);
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dummySensor.Mapping = new[] { 0, 1, 2, 3 };
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var stackedDummySensor = new StackingSensor(dummySensor, 2);
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Assert.AreEqual(stackedDummySensor.GetBuiltInSensorType(), BuiltInSensorType.Unknown);
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var vectorSensor = new VectorSensor(4);
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var stackedVectorSensor = new StackingSensor(vectorSensor, 4);
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Assert.AreEqual(stackedVectorSensor.GetBuiltInSensorType(), BuiltInSensorType.VectorSensor);
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}
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}
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}
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