DVSCamera.h

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// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Agrarsense/Sensor/Camera/Camera.h"
#include "DVSCameraParameters.h"
#include "DVSEvent.h"
 
#include "ROSIntegration/Public/sensor_msgs/PointCloud2.h"
 
#include <iostream>
 
#include "DVSCamera.generated.h"
 
UCLASS()
class AGRARSENSE_API ADVSCamera : public ACamera
{
    GENERATED_BODY()
 
public:
 
    ADVSCamera(const FObjectInitializer& ObjectInitializer);
 
    virtual void AddProcessingToFrameBuffer(TArray<FColor>& buffer) override;
 
    virtual ESensorTypes GetSensorType() const override { return ESensorTypes::DVSCamera; }
 
    UFUNCTION(BlueprintCallable)
    void ChangeDVSCameraParameters(FDVSCameraParameters NewParameters);
 
    UFUNCTION(BlueprintCallable, BlueprintPure)
    FDVSCameraParameters GetDVSCameraParameters() const
    {
        return DVSCameraParameters;
    }
 
    UFUNCTION(BlueprintPure)
    UTopic* GetDVSTopic() const
    {
        return DvsTopic;
    }
 
    UFUNCTION(BlueprintPure)
    FString GetDVSTopicName() const
    {
        FString Name;
        if (DvsTopic)
        {
            Name = DvsTopic->GetTopicName();
        }
        return Name;
    }
 
    virtual FString GetParametersAsString() const override
    {
        return StructToString(DVSCameraParameters);
    }
 
protected:
 
    void CreateROSTopic() override;
 
private:
 
    friend class USensorFactory;
 
    void DVSInit(FDVSCameraParameters Parameters, bool SimulateSensor = true);
 
    void Init(FCameraBaseParameters parameters, bool SimulateSensor = true) override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
    UFUNCTION()
    void OnMainCameraWindowResized(ACamera* Camera, FCameraBaseParameters Params);
 
    void ImageToGray(const TArray<FColor>& Buffer);
 
    void ImageToLogGray(const TArray<FColor>& Buffer);
 
    void SendRawDVSImageDataToROS();
 
    void DVSWindowClosedCallback(const TSharedRef<SWindow>& Window);
 
    void UpdateDVSWindowOutput(const TArray<FColor>& Buffer);
 
    float FColorToGrayScaleFloat(const FColor& Color);
 
    void ChangeParametersInternal();
 
    std::vector<DVSEvent> EventArray;
 
    std::vector<DVSEvent> SimulateDVS(const TArray<FColor>& Buffer);
 
    UPROPERTY()
    TArray<double> LastEventTimestamp;
 
    UPROPERTY()
    TArray<float> PreviousImage;
 
    UPROPERTY()
    TArray<float> LastImage;
 
    UPROPERTY()
    TArray<float> RefValues;
 
    std::int64_t CurrentTime;
 
    FDVSCameraParameters TempDVSCameraParameters;
 
    FDVSCameraParameters DVSCameraParameters;
 
    UPROPERTY()
    UTopic* DvsTopic = nullptr;
 
    UPROPERTY()
    TArray<FColor> DVSOutput;
 
    bool SetParentParameters = false;
 
    bool ParametersChanged = false;
 
    TSharedPtr<FUnrealWindow> DVSUnrealWindow;
 
    TSharedPtr<ROSMessages::sensor_msgs::PointCloud2> PointCloudMessage;
 
    FOnWindowClosed OnDVSWindowClosed;
 
    static TArray<int32> ApprovedWidths;
 
    inline constexpr std::int64_t SecToNanoSec(double seconds)
    {
        return static_cast<std::int64_t>(seconds * 1e9);
    }
 
    inline constexpr double NanoSecToSecTrunc(std::int64_t nanoseconds)
    {
        return static_cast<double>(nanoseconds) / 1e9;
    }
 
};