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, IBuiltInSensor, IDisposable

Constructors

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

Creates and returns the camera sensor.

Declaration
public CameraSensor(Camera camera, int width, int height, bool grayscale, string name, SensorCompressionType compression, ObservationType observationType = default(ObservationType))
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.
ObservationType observationType

The type of observation.

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

Dispose()

Clean up the owned Texture2D.

Declaration
public void Dispose()

GetBuiltInSensorType()

Declaration
public BuiltInSensorType GetBuiltInSensorType()
Returns
Type Description
BuiltInSensorType

GetCompressedObservation()

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

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

Compressed image.
Implements

GetCompressionSpec()

Return information on the compression type being used. If no compression is used, return Default().

Declaration
public CompressionSpec GetCompressionSpec()
Returns
Type Description
CompressionSpec

An object describing the compression used by the sensor.
Implements

GetName()

Accessor for the name of the sensor.

Declaration
public string GetName()
Returns
Type Description
String

Sensor name.
Implements

GetObservationSpec()

Returns a description of the observations that will be generated by the sensor. The shape will be h x w x 1 for grayscale and h x w x 3 for color. The dimensions have translational equivariance along width and height, and no property along the channels dimension.

Declaration
public ObservationSpec GetObservationSpec()
Returns
Type Description
ObservationSpec
Implements

ObservationToTexture(Camera, Texture2D, Int32, Int32)

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

Declaration
public static void ObservationToTexture(Camera obsCamera, Texture2D texture2D, int width, int height)
Parameters
Type Name Description
Camera obsCamera

Camera.
Texture2D texture2D

Texture2D to render to.
Int32 width

Width of resulting 2D texture.
Int32 height

Height of resulting 2D texture.

Reset()

Resets the internal state 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