DepthCamera.cpp

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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>.
 
#include "DepthCamera.h"
 
#include "Materials/Material.h"
#include "Math/UnrealMathUtility.h"
 
ADepthCamera::ADepthCamera(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{
    // Ticked by Camera base class
    PrimaryActorTick.bCanEverTick = false;
}
 
void ADepthCamera::DepthInit(FDepthCameraParameters Parameters, bool SimulateSensor)
{
    DepthCameraParameters = Parameters;
    Init(DepthCameraParameters.CameraParameters, SimulateSensor);
}
 
void ADepthCamera::Init(FCameraBaseParameters parameters, bool SimulateSensor)
{
    // Set directory and camera name, defined in Camera.h
    CameraName = "DepthCamera ";
    FilePrefix = "Data/DepthCamera_";
 
    // Setup Depth material
    SetupDepthMaterial(DepthCameraParameters.ConvertToGrayscale);
 
    // Call Camera base class Init
    Super::Init(parameters, SimulateSensor);
 
    // This camera doesn't need to render shadows
    SetShadowRendering(false);
 
    // Or many other advanced show flags.
    DisableShowFlags();
}
 
void ADepthCamera::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
    Super::EndPlay(EndPlayReason);
 
    DepthEffectMaterialGrayscale.Reset();
    DepthEffectMaterial.Reset();
}
 
void ADepthCamera::ChangeDepthCameraParameters(FDepthCameraParameters Parameters)
{
    DepthCameraParameters = Parameters;
    SetupDepthMaterial(Parameters.ConvertToGrayscale);
    ChangeCameraParameters(Parameters.CameraParameters);
}
 
void ADepthCamera::AddProcessingToFrameBuffer(TArray<FColor>& buffer)
{
    // TODO, can we avoid this altogether?
 
    // Get the raw buffer 
    FColor* BufferPtr = buffer.GetData();
 
    for (size_t i = 0; i < buffer.Num(); ++i)
    {
        // Convert the current FColor (sRGB 0-255) to FLinearColor (linear 0.0-1.0)
        FLinearColor pixel = FLinearColor::FromSRGBColor(BufferPtr[i]);
 
        // Process the pixel and convert it back to FColor (sRGB 0-255)
        // This step applies gamma correction and ensures values are properly adjusted
        BufferPtr[i] = FColor(
            FMath::RoundToInt(pixel.R * 255.0f),
            FMath::RoundToInt(pixel.G * 255.0f),
            FMath::RoundToInt(pixel.B * 255.0f));
    }
}
 
void ADepthCamera::SetupDepthMaterial(const bool UseGrayscale)
{
    // Get SceneCaptureComponent2D from the base Camera class
    USceneCaptureComponent2D* SceneCaptureComponent = GetCaptureComponent2D();
 
    if (SceneCaptureComponent)
    {
        // Determine which post-processing material to apply based on whether grayscale is used
        if (UseGrayscale)
        {
            // Load and apply the grayscale material if it hasn't been loaded already
            if (!DepthEffectMaterialGrayscale.IsValid())
            {
 
                FString Path;
#if PLATFORM_LINUX
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterialGrayscale_Alt.DepthEffectMaterialGrayscale_Alt";
#else
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterialGrayscale.DepthEffectMaterialGrayscale";
#endif
                DepthEffectMaterialGrayscale = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
                AddPostProcessingMaterial(Path, 1.0f);
            }
 
            // Remove the non-grayscale material if it's currently applied
            if (DepthEffectMaterial.IsValid())
            {
                RemovePostProcessingMaterial(DepthEffectMaterial.Get());
                DepthEffectMaterial.Reset();
            }
        }
        else
        {
            // Load and apply the non-grayscale material if it hasn't been loaded already
            if (!DepthEffectMaterial.IsValid())
            {
                FString Path;
#if PLATFORM_LINUX
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterial_Alt.DepthEffectMaterial_Alt";
#else
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial";
#endif
                DepthEffectMaterial = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
                AddPostProcessingMaterial(Path, 1.0f);
            }
 
            // Remove the grayscale material if it's currently applied
            if (DepthEffectMaterialGrayscale.IsValid())
            {
                RemovePostProcessingMaterial(DepthEffectMaterialGrayscale.Get());
                DepthEffectMaterialGrayscale.Reset();
            }
        }
    }
}