Access Camera in CameraSensor

guidosalimbeni · June 4, 2020, 7:17pm

Hi,
How can I assign a camera at runtime to the slot in camera sensor? I got an error saying that I cannot get a component using get component in unity if it not derives from monobehaviour. I used get component with the interface Isensor but I don’t know how to assign a camera at runtime from here. Any help would be great…
thanks

celion_unity · June 5, 2020, 10:36pm

You should be able to set the Camera property on the CameraSensorComponent (which is a MonoBehavior), which will update the Camera on the sensor.

Here’s the relevant parts in the code:

github.com

Unity-Technologies/ml-agents/blob/com.unity.ml-agents_1.0.2/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs#L23


      
          Camera m_Camera;
          
          CameraSensor m_Sensor;
          
          /// <summary>
          /// Camera object that provides the data to the sensor.
          /// </summary>
          public Camera Camera
          {
              get { return m_Camera;  }
              set { m_Camera = value; UpdateSensor(); }
          }
          
          [HideInInspector, SerializeField, FormerlySerializedAs("sensorName")]
          string m_SensorName = "CameraSensor";
          
          /// <summary>
          /// Name of the generated <see cref="CameraSensor"/> object.
          /// Note that changing this at runtime does not affect how the Agent sorts the sensors.
          /// </summary>
          public string SensorName

github.com

Unity-Technologies/ml-agents/blob/com.unity.ml-agents_1.0.2/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs#L112-L119


      
          internal void UpdateSensor()
          {
              if (m_Sensor != null)
              {
                  m_Sensor.Camera = m_Camera;
                  m_Sensor.CompressionType = m_Compression;
              }
          }

nofreewill42 · June 9, 2020, 4:24am

Using one camera in a CameraSensorComponent I successfully get an observation in a Jupyter notebook.
What I want however is to have two cameras so that I can research in 3D vision.
When I have two cameras in two separate CameraSensorComponents, however, and call “env.reset()”, it is stuck with showing the asterisk that the cell is running.
Does anybody know what may be wrong?