mirror of
https://github.com/gryf/coach.git
synced 2025-12-17 11:10:20 +01:00
125c7ee38d
Main changes are detailed below: New features - * CARLA 0.7 simulator integration * Human control of the game play * Recording of human game play and storing / loading the replay buffer * Behavioral cloning agent and presets * Golden tests for several presets * Selecting between deep / shallow image embedders * Rendering through pygame (with some boost in performance) API changes - * Improved environment wrapper API * Added an evaluate flag to allow convenient evaluation of existing checkpoints * Improve frameskip definition in Gym Bug fixes - * Fixed loading of checkpoints for agents with more than one network * Fixed the N Step Q learning agent python3 compatibility
86 lines
2.8 KiB
Python
86 lines
2.8 KiB
Python
import pygame
|
|
from pygame.locals import *
|
|
import numpy as np
|
|
|
|
|
|
class Renderer(object):
|
|
def __init__(self):
|
|
self.size = (1, 1)
|
|
self.screen = None
|
|
self.clock = pygame.time.Clock()
|
|
self.display = pygame.display
|
|
self.fps = 30
|
|
self.pressed_keys = []
|
|
self.is_open = False
|
|
|
|
def create_screen(self, width, height):
|
|
"""
|
|
Creates a pygame window
|
|
:param width: the width of the window
|
|
:param height: the height of the window
|
|
:return: None
|
|
"""
|
|
self.size = (width, height)
|
|
self.screen = self.display.set_mode(self.size, HWSURFACE | DOUBLEBUF)
|
|
self.display.set_caption("Coach")
|
|
self.is_open = True
|
|
|
|
def normalize_image(self, image):
|
|
"""
|
|
Normalize image values to be between 0 and 255
|
|
:param image: 2D/3D array containing an image with arbitrary values
|
|
:return: the input image with values rescaled to 0-255
|
|
"""
|
|
image_min, image_max = image.min(), image.max()
|
|
return 255.0 * (image - image_min) / (image_max - image_min)
|
|
|
|
def render_image(self, image):
|
|
"""
|
|
Render the given image to the pygame window
|
|
:param image: a grayscale or color image in an arbitrary size. assumes that the channels are the last axis
|
|
:return: None
|
|
"""
|
|
if self.is_open:
|
|
if len(image.shape) == 3:
|
|
if image.shape[0] == 3 or image.shape[0] == 1:
|
|
image = np.transpose(image, (1, 2, 0))
|
|
surface = pygame.surfarray.make_surface(image.swapaxes(0, 1))
|
|
surface = pygame.transform.scale(surface, self.size)
|
|
self.screen.blit(surface, (0, 0))
|
|
self.display.flip()
|
|
self.clock.tick()
|
|
self.get_events()
|
|
|
|
def get_events(self):
|
|
"""
|
|
Get all the window events in the last tick and reponse accordingly
|
|
:return: None
|
|
"""
|
|
for event in pygame.event.get():
|
|
if event.type == pygame.KEYDOWN:
|
|
self.pressed_keys.append(event.key)
|
|
# esc pressed
|
|
if event.key == pygame.K_ESCAPE:
|
|
self.close()
|
|
elif event.type == pygame.KEYUP:
|
|
if event.key in self.pressed_keys:
|
|
self.pressed_keys.remove(event.key)
|
|
elif event.type == pygame.QUIT:
|
|
self.close()
|
|
|
|
def get_key_names(self, key_ids):
|
|
"""
|
|
Get the key name for each key index in the list
|
|
:param key_ids: a list of key id's
|
|
:return: a list of key names corresponding to the key id's
|
|
"""
|
|
return [pygame.key.name(key_id) for key_id in key_ids]
|
|
|
|
def close(self):
|
|
"""
|
|
Close the pygame window
|
|
:return: None
|
|
"""
|
|
self.is_open = False
|
|
pygame.quit()
|