From f7021591dc2f323f6d2ec44ba397dc4f35885220 Mon Sep 17 00:00:00 2001
From: Ivan-267 <61947090+Ivan-267@users.noreply.github.com>
Date: Wed, 30 Oct 2024 22:36:39 +0100
Subject: [PATCH] Adds camera sensor 2D

---
 .../sensors/sensors_2d/RGBCameraSensor2D.gd   | 77 +++++++++++++++++++
 .../sensors/sensors_2d/RGBCameraSensor2D.tscn | 36 +++++++++
 2 files changed, 113 insertions(+)
 create mode 100644 addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.gd
 create mode 100644 addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.tscn

diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.gd
new file mode 100644
index 0000000..3159c3a
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.gd
@@ -0,0 +1,77 @@
+extends Node2D
+class_name RGBCameraSensor2D
+var camera_pixels = null
+
+@export var camera_zoom_factor := Vector2(0.1, 0.1)
+@onready var camera := $SubViewport/Camera
+@onready var preview_window := $Control
+@onready var camera_texture := $Control/CameraTexture as Sprite2D
+@onready var processed_texture := $Control/ProcessedTexture as Sprite2D
+@onready var sub_viewport := $SubViewport as SubViewport
+@onready var displayed_image: ImageTexture
+
+@export var render_image_resolution := Vector2(36, 36)
+## Display size does not affect rendered or sent image resolution.
+## Scale is relative to either render image or downscale image resolution
+## depending on which mode is set.
+@export var displayed_image_scale_factor := Vector2(8, 8)
+
+@export_group("Downscale image options")
+## Enable to downscale the rendered image before sending the obs.
+@export var downscale_image: bool = false
+## If downscale_image is true, will display the downscaled image instead of rendered image.
+@export var display_downscaled_image: bool = true
+## This is the resolution of the image that will be sent after downscaling
+@export var resized_image_resolution := Vector2(36, 36)
+
+
+func _ready():
+	DisplayServer.register_additional_output(self)
+
+	camera.zoom = camera_zoom_factor
+
+	var preview_size: Vector2
+
+	sub_viewport.world_2d = get_tree().get_root().get_world_2d()
+	sub_viewport.size = render_image_resolution
+	camera_texture.scale = displayed_image_scale_factor
+
+	if downscale_image and display_downscaled_image:
+		camera_texture.visible = false
+		processed_texture.scale = displayed_image_scale_factor
+		preview_size = displayed_image_scale_factor * resized_image_resolution
+	else:
+		processed_texture.visible = false
+		preview_size = displayed_image_scale_factor * render_image_resolution
+
+	preview_window.size = preview_size
+
+
+func get_camera_pixel_encoding():
+	var image := camera_texture.get_texture().get_image() as Image
+
+	if downscale_image:
+		image.resize(
+			resized_image_resolution.x, resized_image_resolution.y, Image.INTERPOLATE_NEAREST
+		)
+		if display_downscaled_image:
+			if not processed_texture.texture:
+				displayed_image = ImageTexture.create_from_image(image)
+				processed_texture.texture = displayed_image
+			else:
+				displayed_image.update(image)
+
+	return image.get_data().hex_encode()
+
+
+func get_camera_shape() -> Array:
+	var size = resized_image_resolution if downscale_image else render_image_resolution
+
+	assert(
+		size.x >= 36 and size.y >= 36,
+		"Camera sensor sent image resolution must be 36x36 or larger."
+	)
+	if sub_viewport.transparent_bg:
+		return [4, size.y, size.x]
+	else:
+		return [3, size.y, size.x]
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.tscn
new file mode 100644
index 0000000..94ab778
--- /dev/null
+++ b/addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.tscn
@@ -0,0 +1,36 @@
+[gd_scene load_steps=3 format=3 uid="uid://bav1cl8uwc45c"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RGBCameraSensor2D.gd" id="1_txpo2"]
+
+[sub_resource type="ViewportTexture" id="ViewportTexture_jks1s"]
+viewport_path = NodePath("SubViewport")
+
+[node name="RGBCameraSensor2D" type="Node2D"]
+script = ExtResource("1_txpo2")
+displayed_image_scale_factor = Vector2(3, 3)
+
+[node name="RemoteTransform" type="RemoteTransform2D" parent="."]
+remote_path = NodePath("../SubViewport/Camera")
+
+[node name="SubViewport" type="SubViewport" parent="."]
+canvas_item_default_texture_filter = 0
+size = Vector2i(36, 36)
+render_target_update_mode = 4
+
+[node name="Camera" type="Camera2D" parent="SubViewport"]
+position_smoothing_speed = 2.0
+
+[node name="Control" type="Window" parent="."]
+canvas_item_default_texture_filter = 0
+title = "CameraSensor"
+position = Vector2i(20, 40)
+size = Vector2i(64, 64)
+theme_override_font_sizes/title_font_size = 12
+metadata/_edit_use_anchors_ = true
+
+[node name="CameraTexture" type="Sprite2D" parent="Control"]
+texture = SubResource("ViewportTexture_jks1s")
+centered = false
+
+[node name="ProcessedTexture" type="Sprite2D" parent="Control"]
+centered = false