Class CameraSensor
A sensor that wraps a Camera object to generate visual observations for an agent.
Inherited Members
Namespace: Unity.MLAgents.Sensors
Assembly: Unity.ML-Agents.dll
Syntax
public class CameraSensor : ISensor, IDisposableConstructors
CameraSensor(Camera, int, int, bool, 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 = ObservationType.Default)Parameters
| Type | Name | Description |
|---|---|---|
| Camera | camera | Camera object to capture images from. |
| int | width | The width of the generated visual observation. |
| int | height | The height of the generated visual observation. |
| bool | grayscale | Whether to convert the generated image to grayscale or keep color. |
| string | name | The name of the camera sensor. |
| Sensor |
compression | The compression to apply to the generated image. |
| Observation |
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 |
|---|---|
| Sensor |
Methods
Dispose()
Clean up the owned Texture2D.
Declaration
public void Dispose()GetBuiltInSensorType()
Return the corresponding BuiltInSensorType for the sensor.
Declaration
public BuiltInSensorType GetBuiltInSensorType()Returns
| Type | Description |
|---|---|
| Built |
A BuiltInSensorType corresponding to the sensor. |
GetCompressedObservation()
Generates a compressed image. This can be valuable in speeding-up training.
Declaration
public byte[] GetCompressedObservation()Returns
| Type | Description |
|---|---|
| byte[] | Compressed image. |
GetCompressionSpec()
Return information on the compression type being used. If no compression is used, return Default().
Declaration
public CompressionSpec GetCompressionSpec()Returns
| Type | Description |
|---|---|
| Compression |
An object describing the compression used by the sensor. |
GetName()
Accessor for the name of the sensor.
Declaration
public string GetName()Returns
| Type | Description |
|---|---|
| string | Sensor name. |
GetObservationSpec()
Returns a description of the observations that will be generated by the sensor. The shape will be 1 x h x w for grayscale and 3 x h x w 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 |
|---|---|
| Observation |
The |
ObservationToTexture(Camera, Texture2D, int, int)
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. |
| int | width | Width of resulting 2D texture. |
| int | 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()Update()
Update any internal state of the sensor. This is called once per each agent step.
Declaration
public void Update()Write(ObservationWriter)
Writes out the generated, uncompressed image to the provided Observation
Declaration
public int Write(ObservationWriter writer)Parameters
| Type | Name | Description |
|---|---|---|
| Observation |
writer | Where the observation is written to. |
Returns
| Type | Description |
|---|---|
| int | The number of elements written. |