DataCapture.h

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// Copyright (c) 2024 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 "CoreMinimal.h"
#include "GameFramework/Actor.h"
 
#include "DataCapture.generated.h"
 
class ASensor;
class ACamera;
class ALidar;
 
USTRUCT(Blueprintable)
struct AGRARSENSE_API FCaptureData
{
    GENERATED_BODY()
 
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    TArray<ASensor*> Sensors;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    TArray<ACamera*> Cameras;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    TArray<ALidar*> Lidars;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    TArray<FTransform> CapturePositions;
 
    /*
    * If true, captures additional photos at the same location with different yaw rotations (e.g., 360 view without top/bottom).
    */
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    bool CaptureRotatedViews = false;
 
    /*
    * Use can give dataCapture json locations in either World locations or GPS locations.
    */
    UPROPERTY(VisibleAnywhere, BlueprintReadWrite)
    bool UseGPSLocation = false;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadOnly)
    int32 CurrentCaptureIndex = 0;
 
    /*
    * Due to some issues with capturing data in the same frame as moving it, 
    * we may want to keep the sensor in the same position for a few frames.
    */
    UPROPERTY(VisibleAnywhere, BlueprintReadOnly)
    int32 FramesToKeepInSamePosition = 4;
 
    UPROPERTY(VisibleAnywhere, BlueprintReadOnly)
    bool UseHeightAboveGround = false;
};
 
UENUM(BlueprintType)
enum class ECaptureStep : uint8
{
    WaitingForPositionUpdate,
    WaitingAfterPositionUpdate,
    Capturing,
    WaitingAfterCapture
};
 
/*
* This Actor automates the process of gathering synthetic camera and lidar data.
* The capture logic is a bit convoluted  because the camera and lidar sensors
* may not capture the scene correctly if they move and capture in the same frame.
* Usage:
* 1) Spawn any Camera or Lidar sensor.
* 2) Spawn this Actor and call SetupPhotoCapture with FCaptureData struct.
*/
UCLASS()
class AGRARSENSE_API ADataCapture : public AActor
{
    GENERATED_BODY()
 
public:
 
    ADataCapture(const FObjectInitializer& ObjectInitializer);
 
    UFUNCTION(BlueprintCallable)
    void SetupDataCapture(FCaptureData NewCaptureData);
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void Tick(float DeltaTime) override;
 
    virtual void EndPlay(const EEndPlayReason::Type EndPlayReason) override;
 
private:
 
    /*
    * Capture one Image each frame and move to next position next frame.
    */
    void Capture();
 
    void UpdatePositions(const FTransform& Transform);
 
    void CaptureDataNow();
 
    void DestroySensors();
 
    void ComputeAndSetZFromGround(FTransform& Transform);
 
    FCaptureData CaptureData;
 
    ECaptureStep CaptureStep = ECaptureStep::WaitingForPositionUpdate;
 
    int32 FrameCounter = 0;
 
    bool NeedsPositionUpdate = true;
};