Class CameraSensor

A sensor that wraps a Camera object to generate visual observations for an agent.

Inheritance
Object
CameraSensor
Namespace: Unity.MLAgents.Sensors
Syntax
public class CameraSensor : object, ISensor

Constructors

CameraSensor(Camera, Int32, Int32, Boolean, String, SensorCompressionType)

Creates and returns the camera sensor.

Declaration
public CameraSensor(Camera camera, int width, int height, bool grayscale, string name, SensorCompressionType compression)
Parameters
Type Name Description
Camera camera

Camera object to capture images from.
Int32 width

The width of the generated visual observation.
Int32 height

The height of the generated visual observation.
Boolean grayscale

Whether to convert the generated image to grayscale or keep color.
String name

The name of the camera sensor.
SensorCompressionType compression

The compression to apply to the generated image.

Properties

Camera

The Camera used for rendering the sensor observations.

Declaration
public Camera Camera { get; set; }
Property Value
Type Description
Camera

CompressionType

The compression type used by the sensor.

Declaration
public SensorCompressionType CompressionType { get; set; }
Property Value
Type Description
SensorCompressionType

Methods

GetCompressedObservation()

Generates a compressed image. This can be valuable in speeding-up training.

Declaration
public byte[] GetCompressedObservation()
Returns
Type Description
Byte[]

Compressed image.
Implements

GetCompressionType()

Return the compression type being used. If no compression is used, return None.

Declaration
public SensorCompressionType GetCompressionType()
Returns
Type Description
SensorCompressionType

Compression type used by the sensor.
Implements

GetName()

Accessor for the name of the sensor.

Declaration
public string GetName()
Returns
Type Description
String

Sensor name.
Implements

GetObservationShape()

Accessor for the size of the sensor data. Will be h x w x 1 for grayscale and h x w x 3 for color.

Declaration
public int[] GetObservationShape()
Returns
Type Description
Int32[]

Size of each of the three dimensions.
Implements

ObservationToTexture(Camera, Int32, Int32)

Renders a Camera instance to a 2D texture at the corresponding resolution.

Declaration
public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height)
Parameters
Type Name Description
Camera obsCamera

Camera.
Int32 width

Width of resulting 2D texture.
Int32 height

Height of resulting 2D texture.
Returns
Type Description
Texture2D

The 2D texture.

Reset()

Resets the internal states of the sensor. This is called at the end of an Agent's episode. Most implementations can leave this empty.

Declaration
public void Reset()
Implements

Update()

Update any internal state of the sensor. This is called once per each agent step.

Declaration
public void Update()
Implements

Write(ObservationWriter)

Writes out the generated, uncompressed image to the provided ObservationWriter.

Declaration
public int Write(ObservationWriter writer)
Parameters
Type Name Description
ObservationWriter writer

Where the observation is written to.
Returns
Type Description
Int32
Implements