Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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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;
SensorCompressionType m_CompressionType;
public CameraSensor(Camera camera, int width, int height, bool grayscale, string name,
SensorCompressionType compression)
{
m_Camera = camera;
m_Width = width;
m_Height = height;
m_Grayscale = grayscale;
m_Name = name;
m_Shape = new[] { height, width, grayscale ? 1 : 3 };
m_CompressionType = compression;
}
public string GetName()
{
return m_Name;
}
public int[] GetObservationShape()
{
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 m_CompressionType;
}
/// <summary>
/// Converts a m_Camera and corresponding resolution to a 2D texture.
/// </summary>
/// <returns>The 2D texture.</returns>
/// <param name="obsCamera">Camera.</param>
/// <param name="width">Width of resulting 2D texture.</param>
/// <param name="height">Height of resulting 2D texture.</param>
/// <returns name="texture2D">Texture2D to render to.</returns>
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;
}
}
}