PhotoCapture.cpp

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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>.
 
#include "PhotoCapture.h"
 
#include "Agrarsense/Sensor/Camera/Camera.h"
 
APhotoCapture::APhotoCapture(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{
    RootComponent = CreateDefaultSubobject<USceneComponent>(TEXT("SceneRoot"));
    PrimaryActorTick.bCanEverTick = true;
    PrimaryActorTick.bStartWithTickEnabled = false;
    PrimaryActorTick.TickGroup = TG_PrePhysics;
    SetActorTickEnabled(false);
}
 
void APhotoCapture::SetupPhotoCapture(FCaptureData NewCaptureData)
{
    CaptureData = NewCaptureData;
 
    if (CaptureData.CapturePositions.Num() != 0 && CaptureData.Cameras.Num() != 0)
    {
        for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
        {
            ACamera* CameraPtr = CaptureData.Cameras[i];
            if (CameraPtr)
            {
                FCameraBaseParameters params = CameraPtr->GetCameraParameters();
                params.SaveImageToDisk = false;
                params.SendDataToROS = false;
                CameraPtr->ChangeCameraParameters(params);
            }
        }
 
        UpdateCameraPositions(CaptureData.CapturePositions[0]);
 
        // Enable This Actor tick with delay
        FTimerHandle Handle;
        GetWorld()->GetTimerManager().SetTimer(Handle, FTimerDelegate::CreateLambda([this]
            {
                UpdateCameraPositions(CaptureData.CapturePositions[0]);
                SetActorTickEnabled(true);
            }), 0.1f, false);
    }
    else
    {
        DestroyCameras();
        Destroy();
    }
}
 
void APhotoCapture::BeginPlay()
{
    Super::BeginPlay();
}
 
void APhotoCapture::Tick(float DeltaTime)
{
    Super::Tick(DeltaTime);
    Capture();
}
 
void APhotoCapture::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
    Super::EndPlay(EndPlayReason);
 
    CaptureData.Cameras.Empty();
    CaptureData.CapturePositions.Empty();
}
 
void APhotoCapture::Capture()
{
    // A bit convoluted logic due to its not guaranteed that we can move actor 
    // and save the camera image in the same frame.
 
    if (CaptureData.CurrentCaptureIndex < CaptureData.CapturePositions.Num())
    {
        FrameCounter++;
        UpdateCameraPositions(CaptureData.CapturePositions[CaptureData.CurrentCaptureIndex]);
        if (FrameCounter >= CaptureData.FramesToKeepInSamePosition)
        {
            FrameCounter = 0;
            if (CaptureData.CurrentCaptureIndex != CaptureData.CapturePositions.Num())
            {
                CaptureData.CurrentCaptureIndex++;
                CaptureImages();
            }
        }
    }
 
    if (CaptureData.CurrentCaptureIndex == CaptureData.CapturePositions.Num())
    {
        // Disable tick
        SetActorTickEnabled(false);
 
        // Destroy this Actor with delay so Camera sensors has time to save the last images
        FTimerHandle Handle;
        GetWorld()->GetTimerManager().SetTimer(Handle, FTimerDelegate::CreateLambda([this]
            {
                DestroyCameras();
                Destroy();
            }), 1.0f, false);
    }
}
 
void APhotoCapture::UpdateCameraPositions(const FTransform& Transform)
{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->SetActorTransform(Transform);
        }
    }
}
 
void APhotoCapture::CaptureImages()
{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->SaveCurrentFrameToDisk();
        }
    }
}
 
void APhotoCapture::DestroyCameras()
{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->Destroy();
        }
    }
}