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Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
ACamera Class Reference

#include <Camera.h>

Inheritance diagram for ACamera:
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Collaboration diagram for ACamera:
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Public Member Functions

 ACamera (const FObjectInitializer &ObjectInitializer)
 
virtual void Init (FCameraBaseParameters parameters, bool SimulateSensor=true)
 
virtual ESensorTypes GetSensorType () const override
 
void ChangeCameraParameters (FCameraBaseParameters newParameters)
 
FCameraBaseParameters GetCameraParameters ()
 
void AddPostProcessingMaterial (const FString &Path, float Weight=1.0f)
 
void RemovePostProcessingMaterial (UMaterial *Material)
 
USceneCaptureComponent2D * GetCaptureComponent2D () const
 
UTextureRenderTarget2D * GetCaptureRenderTarget2D () const
 
void AddWidgetToWindow (UWidget *WidgetToAdd)
 
void RemoveWidgetFromWindow (UWidget *WidgetToRemove)
 
void SetShadowRendering (bool RenderShadows)
 
void DisableShowFlags ()
 
void SetTemporalAA (bool SetTemporal)
 
void ResizeCamera (int Width=1280, int Height=720)
 
void AddHiddenActor (AActor *Actor)
 
void SaveCurrentFrameToDisk ()
 
int GetCameraWidth () const
 
int GetCameraHeight () const
 
void SetUseGimbal (bool UseGimbal)
 
virtual FString GetParametersAsString () const override
 
- Public Member Functions inherited from ASensor
 ASensor (const FObjectInitializer &ObjectInitializer)
 
FString ExportToJsonFile (const FString &FileName)
 
virtual ESensorTypes GetSensorType () const
 
FString GetSensorIdentifier () const
 
void SetSensorIdentifier (const FString newIdentifier)
 
FString GetSensorName () const
 
virtual FString GetParametersAsString () const
 
AVehicleIsAttachedToVehicle () const
 
void SetSensorName (const FString newName)
 
FString GetTopicName ()
 
UTopic * GetROSTopic () const
 
void SetSimulateSensor (bool SimulateSensor)
 
bool CanSimulateSensor () const
 
ASensorModelGetSensorModel () const
 
void SetSensorModel (ASensorModel *NewSensorModel)
 
FORCEINLINE bool IsROSConnected () const
 
UROSIntegrationGameInstance * GetROSGameInstance () const
 
virtual FString GetActorID_Implementation () const override
 
virtual FString GetActorName_Implementation () const override
 
virtual FString GetActorInformation_Implementation () const override
 
virtual void SetActorName_Implementation (const FString &NewActorName) override
 
virtual void SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override
 
void SetParentActorPtr (AActor *ParentActorPtr)
 
- Public Member Functions inherited from IActorInformation
FString GetActorID () const
 
FString GetActorName () const
 
FString GetActorInformation () const
 
void SetActorName (const FString &NewActorName)
 
void SetActorIDAndName (const FString &NewActorName, const FString &NewID)
 

Public Attributes

TEnumAsByte< ETextureRenderTargetFormat > TextureFormat = ETextureRenderTargetFormat::RTF_RGBA8
 
FCameraDelegate_OnWindowClosed OnCameraWindowClosed
 
FCameraDelegate_OnWindowResized OnCameraWindowResized
 
- Public Attributes inherited from ASensor
FSensorDestroy OnSensorDestroy
 
FString AttachedToComponent
 
FName AttachedToBone
 

Protected Member Functions

virtual void BeginPlay () override
 
virtual void EndPlay (const EEndPlayReason::Type EndPlayReason) override
 
void PreActorTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
 
void EndOfFrame (UWorld *World, ELevelTick TickType, float DeltaSeconds)
 
void EndOfFrameParellel (float DeltaTime)
 
virtual void AddProcessingToFrameBuffer (TArray< FColor > &buffer)
 
void ApplyGammaCorrectionLUT (TArray< FColor > &Buffer)
 
void SendImageDataToROS (const TArray< FColor > &FrameBuffer, int32 Width, int32 Height)
 
void HidePrimitiveComponent (UPrimitiveComponent *PrimitiveComponent)
 
void SaveImageToDisk (const TArray< FColor > FrameBuffer, int32 Width, int32 Height)
 
void SaveCameraMetaDataToDisk (const FString &ImageName)
 
void CreateLogFile () override
 
- Protected Member Functions inherited from ASensor
virtual void BeginPlay () override
 
virtual void EndPlay (const EEndPlayReason::Type EndPlayReason) override
 
FString CreateTimeStampString () const
 
virtual void CreateROSTopic ()
 
virtual void DestroyROSTopic ()
 
virtual void CreateDataSavePath ()
 
bool IsLogFileCreated ()
 
virtual void CreateLogFile ()
 
void WriteToLogFile (const FString &Message)
 

Protected Attributes

bool UseParallelLateTick = true
 
FDelegateHandle OnPreTickDelegate
 
FDelegateHandle OnPostTickDelegate
 
FString CameraName = "Camera "
 
FString FilePrefix = "Data/Camera_"
 
UTextureRenderTarget2D * CaptureRenderTarget = nullptr
 
USceneCaptureComponent2D * CaptureComponent2D = nullptr
 
UTexture2D * CaptureFrameTexture
 
TSharedPtr< FUnrealWindowUnrealWindow
 
FTickEntry TickEntry
 
TWeakObjectPtr< UMaterialInstanceDynamic > IceMaterialInstance
 
TWeakObjectPtr< UMaterial > PhysicLensDistortion
 
APIDDroneDronePtr = nullptr
 
FRotator SensorSetRotation
 
bool AllowGimbal = true
 
- Protected Attributes inherited from ASensor
UTopic * ROSTopic = nullptr
 
bool SendDataToROS = true
 
ULogFileLogFile = nullptr
 
AActor * ParentActor = nullptr
 
FString FileSavePath
 
UROSIntegrationGameInstance * ROSInstance = nullptr
 

Private Member Functions

void StartFrameGrabber ()
 
void ReleaseFrameGrabber ()
 
void FrameGrabberCapture ()
 
void OnWindowClosed (const TSharedRef< SWindow > &Window)
 
void SetupCamera (FCameraBaseParameters parameters)
 
bool ShouldSimulate (const float DeltaSeconds)
 

Private Attributes

TSharedPtr< FFrameGrabber > FrameGrabber
 
FCameraBaseParameters CameraParameters
 
FCameraBaseParameters TempParams
 
AGeoReferencingSystem * GeoReferencingSystem = nullptr
 
bool ParametersChanged = false
 
FOnWindowClosed OnWindowClosedDelegate
 
TSharedPtr< ROSMessages::sensor_msgs::Image > ImageMsg
 
int32 ImageWidth = 1280
 
int32 ImageHeight = 720
 
bool SaveCurrentFrameToDiskRequested = false
 
bool ShouldSimulateCamera = true
 
float CameraFrameRate = 0.0f
 
float FrameRateTimer = 0.0f
 
int32 ImageNumber = 0
 
uint8 * BGR8Buffer = nullptr
 
int32 CurrentBufferSize = 0
 

Additional Inherited Members

- Static Public Member Functions inherited from ASensor
static void HideComponentForAllCameras (UPrimitiveComponent *PrimitiveComponent)
 
static TMap< FString, FColor > GetSemanticColors ()
 
static TArray< TWeakObjectPtr< UPrimitiveComponent > > GetComponentsToHide ()
 
- Static Public Member Functions inherited from IActorInformation
static void SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)
 
static bool DestroyActorByID (const FString &ID)
 
static AActor * GetActorByID (const FString &ID)
 
template<typename T >
static TArray< T * > GetActorsWithInterface ()
 
static void PrintAllIds ()
 
- Static Protected Member Functions inherited from ASensor
template<typename InStructType >
static FString StructToString (const InStructType &InStruct)
 
- Static Protected Attributes inherited from ASensor
static FPrimitiveAdded OnPrimitiveAdded
 
static const FName NiagaraPointsInt = "User.PointCount"
 
static const FName NiagaraHitPoints = "User.HitPoints"
 
static const FName NiagaraHitColors = "User.HitColors"
 
static const FName NiagaraPointsFloat = "User.Test"
 

Detailed Description

Camera sensor base class. All other Camera sensors are inherited from this class.

This creates custom Unreal Engine Window and renders USceneCaptureComponent2D into it. Then the Window screen pixels are read by FrameGrabber API which depending on the Camera type, might add processing on the read pixels. The pixels are then saved to disk if SaveDataToDisk is set to true and data is sent to ROS.

Definition at line 52 of file Camera.h.

Constructor & Destructor Documentation

◆ ACamera()

ACamera::ACamera ( const FObjectInitializer &  ObjectInitializer)

Setup new ACamera class

Parameters
FObjectInitializerdefault ObjectInitializer

Definition at line 34 of file Camera.cpp.

34 : Super(ObjectInitializer)
35{
36 PrimaryActorTick.bCanEverTick = true;
37 PrimaryActorTick.TickGroup = TG_PostUpdateWork;
38
39 CaptureRenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(FName(*FString::Printf(TEXT("CaptureRenderTarget"))));
40 CaptureRenderTarget->CompressionSettings = TextureCompressionSettings::TC_Default;
41 CaptureRenderTarget->SRGB = false;
42 CaptureRenderTarget->bAutoGenerateMips = false;
43 CaptureRenderTarget->bGPUSharedFlag = true;
44 CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
45 CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
46
47 CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(FName(*FString::Printf(TEXT("SceneCaptureComponent2D"))));
48 CaptureComponent2D->SetupAttachment(RootComponent);
49 CaptureComponent2D->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_RenderScenePrimitives;
50 CaptureComponent2D->bCaptureOnMovement = false;
51 CaptureComponent2D->bCaptureEveryFrame = false;
52 CaptureComponent2D->bAlwaysPersistRenderingState = true;
53}
USceneCaptureComponent2D * CaptureComponent2D
Definition: Camera.h:287
UTextureRenderTarget2D * CaptureRenderTarget
Definition: Camera.h:284

References CaptureComponent2D, and CaptureRenderTarget.

Member Function Documentation

◆ AddHiddenActor()

void ACamera::AddHiddenActor ( AActor *  Actor)

Definition at line 881 of file Camera.cpp.

882{
883 if (Actor && CaptureComponent2D)
884 {
885 CaptureComponent2D->HiddenActors.AddUnique(Actor);
886 }
887}

References CaptureComponent2D.

◆ AddPostProcessingMaterial()

void ACamera::AddPostProcessingMaterial ( const FString &  Path,
float  Weight = 1.0f 
)

Adds a post-processing material from the specified file path.

Parameters
PathThe file path to the post-processing material.
WeightThe weight or influence of the material. Default is 1.0f.

Definition at line 60 of file Camera.cpp.

61{
62 UMaterial* PostProcessingMat = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
63 if (PostProcessingMat && CaptureComponent2D)
64 {
65 FPostProcessSettings& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
66 PostProcessSettings.AddBlendable(PostProcessingMat, Weight);
67 }
68 else
69 {
70 FString Sensor = GetSensorName();
71 FString Msg = "Failed to add Post processing material to " + Sensor;
73 }
74}
FString GetSensorName() const
Definition: Sensor.h:96
static void Log(const FString &Message, bool LogToTextFile=true, bool LogToROS=true)

References CaptureComponent2D, ASensor::GetSensorName(), and SimulatorLog::Log().

Referenced by AInstanceSegmentationCamera::Init(), ASemanticSegmentationCamera::Init(), and ADepthCamera::SetupDepthMaterial().

◆ AddProcessingToFrameBuffer()

void ACamera::AddProcessingToFrameBuffer ( TArray< FColor > &  buffer)
protectedvirtual

Reimplemented in ADepthCamera, AInstanceSegmentationCamera, ASemanticSegmentationCamera, and ADVSCamera.

Definition at line 595 of file Camera.cpp.

596{
597 return;
598}

Referenced by FrameGrabberCapture().

◆ AddWidgetToWindow()

void ACamera::AddWidgetToWindow ( UWidget *  WidgetToAdd)

Add Widget to custom Unreal Window

Definition at line 833 of file Camera.cpp.

834{
835 if (UnrealWindow.IsValid() && WidgetToAdd)
836 {
837 UnrealWindow->AddUWidgetToWindow(WidgetToAdd);
838 }
839}
TSharedPtr< FUnrealWindow > UnrealWindow
Definition: Camera.h:296

References UnrealWindow.

Referenced by SetupCamera().

◆ ApplyGammaCorrectionLUT()

void ACamera::ApplyGammaCorrectionLUT ( TArray< FColor > &  Buffer)
protected

Definition at line 600 of file Camera.cpp.

601{
602 static uint8 GammaLUT[256];
603 static bool LUTInitialized = false;
604 if (!LUTInitialized)
605 {
606 LUTInitialized = true;
607 for (int32 i = 0; i < 256; ++i)
608 {
609 // sRGB -> linear conversion (gamma ≈ 2.2)
610 float Linear = FMath::Pow(i / 255.0f, 2.2f);
611 GammaLUT[i] = FMath::RoundToInt(Linear * 255.0f);
612 }
613 }
614
615 FColor* Ptr = Buffer.GetData();
616 int32 Num = Buffer.Num();
617
618 for (int32 i = 0; i < Num; ++i)
619 {
620 FColor& C = Ptr[i];
621 C.R = GammaLUT[C.R];
622 C.G = GammaLUT[C.G];
623 C.B = GammaLUT[C.B];
624 }
625}

Referenced by ADepthCamera::AddProcessingToFrameBuffer(), AInstanceSegmentationCamera::AddProcessingToFrameBuffer(), and ASemanticSegmentationCamera::AddProcessingToFrameBuffer().

◆ BeginPlay()

void ACamera::BeginPlay ( )
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 393 of file Camera.cpp.

394{
395 Super::BeginPlay();
396
397 // Register to PreActorTick where USceneCaptureComponent2D will get rendered.
398 OnPreTickDelegate = FWorldDelegates::OnWorldPreActorTick.AddUObject(this, &ACamera::PreActorTick);
399
400 // Check if we should use ATickManager which ticks in parallel, or use Post actor tick
401 // In there we capture the screen pixels with FrameGrabber API,
402 // might do some extra processing, save image to disk and send data to ROS.
404 {
405 SetActorTickEnabled(false);
406 TickEntry = ATickManager::AddTick(this, BindTick(this, &ACamera::EndOfFrameParellel), ETickType::LateTickParallel);
407 }
408 else
409 {
410 SetActorTickEnabled(true);
411 OnPostTickDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ACamera::EndOfFrame);
412 }
413
414 // Get all existing components set to be hidden for all Camera sensors (like Lidar point cloud visualization).
415 auto Components = ASensor::GetComponentsToHide();
416 for (int32 i = 0; i < Components.Num(); i++)
417 {
418 UPrimitiveComponent* Primitive = Components[i].Get();
419 if (Primitive)
420 {
421 HidePrimitiveComponent(Primitive);
422 }
423 }
424
425 OnPrimitiveAdded.AddUniqueDynamic(this, &ACamera::HidePrimitiveComponent);
426
427 GetWorld()->GetTimerManager().SetTimerForNextTick([this]()
428 {
429 if (IsValid(this))
430 {
431 DronePtr = Cast<APIDDrone>(GetAttachParentActor());
432 if (!DronePtr)
433 {
434 AllowGimbal = false;
435 }
436 }
437 });
438}
static auto BindTick(ObjectType *Object, FunctionType Function)
Definition: TickManager.h:162
bool UseParallelLateTick
Definition: Camera.h:235
FTickEntry TickEntry
Definition: Camera.h:298
APIDDrone * DronePtr
Definition: Camera.h:305
FDelegateHandle OnPostTickDelegate
Definition: Camera.h:240
FDelegateHandle OnPreTickDelegate
Definition: Camera.h:237
void HidePrimitiveComponent(UPrimitiveComponent *PrimitiveComponent)
Definition: Camera.cpp:627
void EndOfFrameParellel(float DeltaTime)
Definition: Camera.cpp:523
void EndOfFrame(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:518
void PreActorTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:488
bool AllowGimbal
Definition: Camera.h:307
static FPrimitiveAdded OnPrimitiveAdded
Definition: Sensor.h:377
static TArray< TWeakObjectPtr< UPrimitiveComponent > > GetComponentsToHide()
Definition: Sensor.h:270
static FTickEntry AddTick(UObject *Object, std::function< void(float)> Function, ETickType Type)
Definition: TickManager.cpp:51

References ATickManager::AddTick(), AllowGimbal, BindTick(), DronePtr, EndOfFrame(), EndOfFrameParellel(), ASensor::GetComponentsToHide(), HidePrimitiveComponent(), OnPostTickDelegate, OnPreTickDelegate, ASensor::OnPrimitiveAdded, PreActorTick(), TickEntry, and UseParallelLateTick.

◆ ChangeCameraParameters()

void ACamera::ChangeCameraParameters ( FCameraBaseParameters  newParameters)

Change Camera parameters on the fly. Callable from blueprint.

Parameters
FCameraBaseParametersCameraParameters struct

Definition at line 55 of file Camera.cpp.

56{
57 SetupCamera(newParameters);
58}
void SetupCamera(FCameraBaseParameters parameters)
Definition: Camera.cpp:128

References SetupCamera().

Referenced by ADepthCamera::ChangeDepthCameraParameters(), ADVSCamera::ChangeParametersInternal(), AThermalCamera::ChangeThermalCameraParameters(), ResizeCamera(), and ADataCapture::SetupDataCapture().

◆ CreateLogFile()

void ACamera::CreateLogFile ( )
overrideprotectedvirtual

Create Text file for this sensor if it has not been created already. Text file will be created to ROOT/Data/Run/Logs directory. Filename will be SensorName_ID_UnixTimestamp.txt Can be overriden by individual sensor if needed.

Reimplemented from ASensor.

Definition at line 92 of file Camera.cpp.

93{
94 if (IsValid(LogFile))
95 {
96 // File has already been created, return
97 return;
98 }
99
100 FLogFileSettings Settings;
103 Settings.QueueLength = MAX_int32; // Only write the log after destroying the sensor
104 Settings.KeepFileOpen = false;
105 Settings.Timestamp = false;
106 Settings.OverrideFilePath = true;
107 Settings.FilePath = FileSavePath;
108
109 LogFile = NewObject<ULogFile>(ULogFile::StaticClass());
110 if (IsValid(LogFile))
111 {
112 FString FileName = "camera_metadata";
113 LogFile->Create(FileName, Settings);
114
115 // Write camera metadata first line to explain the values.
116 GeoReferencingSystem = AGeoReferencingSystem::GetGeoReferencingSystem(GetWorld());
118 {
119 WriteToLogFile("timestamp, image_name, X location, Y location, Z location, yaw rotation, pitch rotation, roll rotation, GPS latitude, GPS longitude, GPS altitude");
120 }
121 else
122 {
123 WriteToLogFile("timestamp, image_name, X location, Y location, Z location, yaw rotation, pitch rotation, roll rotation");
124 }
125 }
126}
AGeoReferencingSystem * GeoReferencingSystem
Definition: Camera.h:360
ULogFile * LogFile
Definition: Sensor.h:367
FString FileSavePath
Definition: Sensor.h:372
void WriteToLogFile(const FString &Message)
Definition: Sensor.cpp:295
void Create(const FString &FileNameWithoutExtension, FLogFileSettings Settings)
Definition: LogFile.cpp:40
bool KeepFileOpen
Definition: LogFile.h:42
bool Timestamp
Definition: LogFile.h:39
FString FilePath
Definition: LogFile.h:54
FFileWriteOptions FileWriteOptions
Definition: LogFile.h:45
int32 QueueLength
Definition: LogFile.h:48
bool OverrideFilePath
Definition: LogFile.h:51
FFileCreationOptions FileCreationOptions
Definition: LogFile.h:36

References ULogFile::Create(), FLogFileSettings::FileCreationOptions, FLogFileSettings::FilePath, ASensor::FileSavePath, FLogFileSettings::FileWriteOptions, GeoReferencingSystem, FLogFileSettings::KeepFileOpen, ASensor::LogFile, FLogFileSettings::OverrideFilePath, Overwrite, Queue, FLogFileSettings::QueueLength, FLogFileSettings::Timestamp, and ASensor::WriteToLogFile().

Referenced by FrameGrabberCapture(), and SetupCamera().

◆ DisableShowFlags()

void ACamera::DisableShowFlags ( )

Definition at line 889 of file Camera.cpp.

890{
892 {
893 return;
894 }
895
896 auto& ShowFlags = CaptureComponent2D->ShowFlags;
897
898 ShowFlags.SetDeferredLighting(false);
899 ShowFlags.SetSkyLighting(false);
900 ShowFlags.SetAmbientOcclusion(false);
901 ShowFlags.SetAntiAliasing(false);
902 ShowFlags.SetVolumetricFog(false);;
903 ShowFlags.SetBloom(false);
904 ShowFlags.SetCameraImperfections(false);
905 ShowFlags.SetCameraInterpolation(false);
906 ShowFlags.SetColorGrading(false);
907 ShowFlags.SetDepthOfField(false);
908 ShowFlags.SetDiffuse(false);
909 ShowFlags.SetDirectionalLights(false);
910 ShowFlags.SetDirectLighting(false);
911 ShowFlags.SetDynamicShadows(false);
912 ShowFlags.SetEyeAdaptation(false);
913 ShowFlags.SetFog(false);
914 ShowFlags.SetGlobalIllumination(false);
915 ShowFlags.SetGrain(false);
916 ShowFlags.SetHLODColoration(false);
917 ShowFlags.SetHMDDistortion(false);
918 ShowFlags.SetLensFlares(false);
919 ShowFlags.SetLightComplexity(false);
920 ShowFlags.SetLightFunctions(false);
921 ShowFlags.SetLightInfluences(false);
922 ShowFlags.SetLighting(false);
923 ShowFlags.SetLightMapDensity(false);
924 ShowFlags.SetLightRadius(false);
925 ShowFlags.SetLightShafts(false);
926 ShowFlags.SetLODColoration(false);
927 ShowFlags.SetMotionBlur(false);
928 ShowFlags.SetOnScreenDebug(false);
929 ShowFlags.SetParticles(false);
930 ShowFlags.SetPointLights(false);
931 ShowFlags.SetRefraction(false);
932 ShowFlags.SetSceneColorFringe(false);
933 ShowFlags.SetScreenSpaceAO(false);
934 ShowFlags.SetScreenSpaceReflections(false);
935 ShowFlags.SetSkyLighting(false);
936 ShowFlags.SetSpotLights(false);
937 ShowFlags.SetStationaryLightOverlap(false);
938 ShowFlags.SetSubsurfaceScattering(false);
939 ShowFlags.SetTonemapper(false);
940 ShowFlags.SetVisualizeBuffer(false);
941 ShowFlags.SetVisualizeDistanceFieldAO(false);
942 ShowFlags.SetVisualizeDOF(false);
943 ShowFlags.SetVisualizeHDR(false);
944 ShowFlags.SetVisualizeLightCulling(false);
945 ShowFlags.SetVisualizeMeshDistanceFields(false);
946 ShowFlags.SetVisualizeMotionBlur(false);
947 ShowFlags.SetVisualizeOutOfBoundsPixels(false);
948 ShowFlags.SetVisualizeSenses(false);
949 ShowFlags.SetVisualizeShadingModels(false);
950 ShowFlags.SetVisualizeSSR(false);
951 ShowFlags.SetVisualizeSSS(false);
952}

References CaptureComponent2D.

Referenced by ADepthCamera::Init(), AInstanceSegmentationCamera::Init(), and ASemanticSegmentationCamera::Init().

◆ EndOfFrame()

void ACamera::EndOfFrame ( UWorld *  World,
ELevelTick  TickType,
float  DeltaSeconds 
)
protected

Definition at line 518 of file Camera.cpp.

519{
521}
void FrameGrabberCapture()
Definition: Camera.cpp:555

References FrameGrabberCapture().

Referenced by BeginPlay().

◆ EndOfFrameParellel()

void ACamera::EndOfFrameParellel ( float  DeltaTime)
protected

Definition at line 523 of file Camera.cpp.

524{
526}

References FrameGrabberCapture().

Referenced by BeginPlay().

◆ EndPlay()

void ACamera::EndPlay ( const EEndPlayReason::Type  EndPlayReason)
overrideprotectedvirtual

Reimplemented from ASensor.

Reimplemented in AInstanceSegmentationCamera, ADepthCamera, ADVSCamera, and AThermalCamera.

Definition at line 440 of file Camera.cpp.

441{
442 Super::EndPlay(EndPlayReason);
443
444 FWorldDelegates::OnWorldPreActorTick.Remove(OnPreTickDelegate);
445
447 {
449 }
450 else
451 {
452 FWorldDelegates::OnWorldPostActorTick.Remove(OnPostTickDelegate);
453 }
454
455 if (UnrealWindow.IsValid())
456 {
457 OnWindowClosedDelegate.Unbind();
458 UnrealWindow->DestroyWindow();
459 UnrealWindow.Reset();
460 }
461
463
465 {
466 CaptureRenderTarget->ConditionalBeginDestroy();
467 CaptureRenderTarget = nullptr;
468 }
469
471 {
472 CaptureComponent2D->UnregisterComponent();
473 CaptureComponent2D->ConditionalBeginDestroy();
474 CaptureComponent2D = nullptr;
475 }
476
477 ImageMsg.Reset();
478 IceMaterialInstance.Reset();
479
480 if (BGR8Buffer)
481 {
482 delete[] BGR8Buffer;
483 BGR8Buffer = nullptr;
484 }
486}
FOnWindowClosed OnWindowClosedDelegate
Definition: Camera.h:364
TSharedPtr< ROSMessages::sensor_msgs::Image > ImageMsg
Definition: Camera.h:366
int32 CurrentBufferSize
Definition: Camera.h:382
void ReleaseFrameGrabber()
Definition: Camera.cpp:666
uint8 * BGR8Buffer
Definition: Camera.h:380
TWeakObjectPtr< UMaterialInstanceDynamic > IceMaterialInstance
Definition: Camera.h:300
static void RemoveTick(FTickEntry TickEntry)
Definition: TickManager.cpp:80

References BGR8Buffer, CaptureComponent2D, CaptureRenderTarget, CurrentBufferSize, IceMaterialInstance, ImageMsg, OnPostTickDelegate, OnPreTickDelegate, OnWindowClosedDelegate, ReleaseFrameGrabber(), ATickManager::RemoveTick(), TickEntry, UnrealWindow, and UseParallelLateTick.

◆ FrameGrabberCapture()

void ACamera::FrameGrabberCapture ( )
private

Capture screen pixels with FrameGrabber

Definition at line 555 of file Camera.cpp.

556{
557 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::FrameGrabberCapture);
558
559 if (!ShouldSimulateCamera || !FrameGrabber.IsValid())
560 {
561 return;
562 }
563
565 {
566 return;
567 }
568
569 TArray<FCapturedFrameData> Frames = FrameGrabber->GetCapturedFrames();
570 if (Frames.Num())
571 {
572 FCapturedFrameData& LastFrame = Frames.Last();
573 TArray<FColor>& ImageBuffer = LastFrame.ColorBuffer;
574
575 AddProcessingToFrameBuffer(ImageBuffer);
576
578 {
580 {
583 }
584
585 AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [this, ImageBuffer]()
586 {
588 });
589 }
590
592 }
593}
TSharedPtr< FFrameGrabber > FrameGrabber
Definition: Camera.h:335
FCameraBaseParameters CameraParameters
Definition: Camera.h:351
void SaveImageToDisk(const TArray< FColor > FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:743
bool ShouldSimulateCamera
Definition: Camera.h:373
void SendImageDataToROS(const TArray< FColor > &FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:683
bool SaveCurrentFrameToDiskRequested
Definition: Camera.h:371
void CreateLogFile() override
Definition: Camera.cpp:92
virtual void AddProcessingToFrameBuffer(TArray< FColor > &buffer)
Definition: Camera.cpp:595
int32 ImageHeight
Definition: Camera.h:369
int32 ImageWidth
Definition: Camera.h:368
bool SendDataToROS
Definition: Sensor.h:364

References AddProcessingToFrameBuffer(), CameraParameters, CreateLogFile(), FrameGrabber, FrameGrabberCapture(), ImageHeight, ImageWidth, SaveCurrentFrameToDiskRequested, SaveImageToDisk(), FCameraBaseParameters::SaveImageToDisk, ASensor::SendDataToROS, SendImageDataToROS(), and ShouldSimulateCamera.

Referenced by EndOfFrame(), EndOfFrameParellel(), and FrameGrabberCapture().

◆ GetCameraHeight()

int ACamera::GetCameraHeight ( ) const
inline

Definition at line 207 of file Camera.h.

208 {
209 return ImageHeight;
210 }

Referenced by ADVSCamera::ChangeParametersInternal(), ADVSCamera::Init(), and ADVSCamera::SimulateDVS().

◆ GetCameraParameters()

FCameraBaseParameters ACamera::GetCameraParameters ( )
inline

Get current Camera parameters

Returns
FCameraBaseParameters struct

Definition at line 91 of file Camera.h.

92 {
93 return CameraParameters;
94 }

Referenced by USimulatorJsonExporter::ExportSensorToJSON(), and ADataCapture::SetupDataCapture().

◆ GetCameraWidth()

int ACamera::GetCameraWidth ( ) const
inline

Definition at line 201 of file Camera.h.

202 {
203 return ImageWidth;
204 }

Referenced by ADVSCamera::ChangeParametersInternal(), ADVSCamera::Init(), and ADVSCamera::SimulateDVS().

◆ GetCaptureComponent2D()

USceneCaptureComponent2D * ACamera::GetCaptureComponent2D ( ) const
inline

Get CaptureComponent USceneCaptureComponent2D pointer.

Returns
USceneCaptureComponent2D pointer

Definition at line 114 of file Camera.h.

115 {
116 return CaptureComponent2D;
117 }

Referenced by ADepthCamera::SetupDepthMaterial(), and AThermalCamera::SetupMaterial().

◆ GetCaptureRenderTarget2D()

UTextureRenderTarget2D * ACamera::GetCaptureRenderTarget2D ( ) const
inline

Get UTextureRenderTarget2D pointer.

Returns
UTextureRenderTarget2D pointer

Definition at line 124 of file Camera.h.

125 {
126 return CaptureRenderTarget;
127 }

◆ GetParametersAsString()

virtual FString ACamera::GetParametersAsString ( ) const
inlineoverridevirtual

Get current LidarParameters struct fields as one string.

Reimplemented from ASensor.

Reimplemented in ADepthCamera, ADVSCamera, and AThermalCamera.

Definition at line 221 of file Camera.h.

222 {
224 }
static FString StructToString(const InStructType &InStruct)
Definition: Sensor.h:325

◆ GetSensorType()

virtual ESensorTypes ACamera::GetSensorType ( ) const
inlineoverridevirtual

Get type of the sensor

Returns
Sensor's type

Reimplemented from ASensor.

Reimplemented in ADepthCamera, ADVSCamera, AInstanceSegmentationCamera, ASemanticSegmentationCamera, and AThermalCamera.

Definition at line 74 of file Camera.h.

75 {
77 }

References RGBCamera.

Referenced by SetupCamera(), and StartFrameGrabber().

◆ HidePrimitiveComponent()

void ACamera::HidePrimitiveComponent ( UPrimitiveComponent *  PrimitiveComponent)
protected

Definition at line 627 of file Camera.cpp.

628{
629 if (PrimitiveComponent && CaptureComponent2D)
630 {
631 CaptureComponent2D->HideComponent(PrimitiveComponent);
632 }
633}

References CaptureComponent2D.

Referenced by BeginPlay().

◆ Init()

void ACamera::Init ( FCameraBaseParameters  parameters,
bool  SimulateSensor = true 
)
virtual

Initialize new Camera sensor

Parameters
FCameraBaseParametersCameraParameters struct

Reimplemented in ADepthCamera, ADVSCamera, AInstanceSegmentationCamera, ASemanticSegmentationCamera, and AThermalCamera.

Definition at line 85 of file Camera.cpp.

86{
88 SetSimulateSensor(SimulateSensor);
89 SetupCamera(parameters);
90}
virtual void CreateDataSavePath()
Definition: Sensor.cpp:247
void SetSimulateSensor(bool SimulateSensor)
Definition: Sensor.h:160

References ASensor::CreateDataSavePath(), ASensor::SetSimulateSensor(), and SetupCamera().

◆ OnWindowClosed()

void ACamera::OnWindowClosed ( const TSharedRef< SWindow > &  Window)
private

On camera window closed event

Parameters
Windowreference to SWindow pointer

Definition at line 820 of file Camera.cpp.

821{
822#if WITH_EDITOR
823 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Camera window closed. Destroying Camera sensor.."));
824#endif
825
826 // Broadcast event that this Camera sensor is about be destroyed when user has clicked Window Close button.
827 OnCameraWindowClosed.Broadcast(this);
828
829 // Destroy this camera sensor
830 this->Destroy();
831}
FCameraDelegate_OnWindowClosed OnCameraWindowClosed
Definition: Camera.h:141

References Destroy, and OnCameraWindowClosed.

Referenced by SetupCamera().

◆ PreActorTick()

void ACamera::PreActorTick ( UWorld *  World,
ELevelTick  TickType,
float  DeltaSeconds 
)
protected

Definition at line 488 of file Camera.cpp.

489{
490 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::PreActorTick);
491
492 // If this Camera sensor is attached to Drone, keep the camera steady kind of like a Gimbal.
494 {
495 if (SensorSetRotation == FRotator::ZeroRotator)
496 {
497 // Save garage sensor values
498 SensorSetRotation = GetTransform().Rotator();
499 }
500 FRotator gimbalRot = FRotator(SensorSetRotation.Pitch, GetActorRotation().Yaw, SensorSetRotation.Roll);
501 SetActorRotation(gimbalRot);
502 }
503
504 if (ShouldSimulate(DeltaSeconds) && CaptureComponent2D)
505 {
506 // Capture scene now.
507 // We could use CaptureSceneDeferred but it would not work if World (Spectator) Rendering is disabled.
508 CaptureComponent2D->CaptureScene();
509
510 // Inform FrameGrabber to capture this frame
511 if (FrameGrabber.IsValid())
512 {
513 FrameGrabber->CaptureThisFrame(FFramePayloadPtr());
514 }
515 }
516}
FRotator SensorSetRotation
Definition: Camera.h:306
bool ShouldSimulate(const float DeltaSeconds)
Definition: Camera.cpp:528
bool IsVehicleInGarage() const
Definition: Vehicle.h:131

References AllowGimbal, CaptureComponent2D, DronePtr, FrameGrabber, AVehicle::IsVehicleInGarage(), PreActorTick(), SensorSetRotation, and ShouldSimulate().

Referenced by BeginPlay(), and PreActorTick().

◆ ReleaseFrameGrabber()

void ACamera::ReleaseFrameGrabber ( )
private

Release FrameGrabber and destroy UTexture2D

Definition at line 666 of file Camera.cpp.

667{
668 if (FrameGrabber.IsValid())
669 {
670 FrameGrabber->StopCapturingFrames();
671 FrameGrabber->Shutdown();
672 FrameGrabber.Reset();
673 }
674
676 {
677 CaptureFrameTexture->RemoveFromRoot();
678 CaptureFrameTexture->ConditionalBeginDestroy();
679 CaptureFrameTexture = nullptr;
680 }
681}
UTexture2D * CaptureFrameTexture
Definition: Camera.h:294

References CaptureFrameTexture, and FrameGrabber.

Referenced by EndPlay(), and StartFrameGrabber().

◆ RemovePostProcessingMaterial()

void ACamera::RemovePostProcessingMaterial ( UMaterial *  Material)

Removes a specified post-processing material.

Parameters
MaterialA pointer to the material to be removed.

Definition at line 76 of file Camera.cpp.

77{
79 {
80 FPostProcessSettings& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
81 PostProcessSettings.RemoveBlendable(Material);
82 }
83}

References CaptureComponent2D.

Referenced by ADepthCamera::SetupDepthMaterial().

◆ RemoveWidgetFromWindow()

void ACamera::RemoveWidgetFromWindow ( UWidget *  WidgetToRemove)

Remove Widget from custom Unreal Window

Definition at line 841 of file Camera.cpp.

842{
843 if (UnrealWindow.IsValid() && WidgetToRemove)
844 {
845 UnrealWindow->RemoveUWidgetFromWindow(WidgetToRemove);
846 }
847}

References UnrealWindow.

◆ ResizeCamera()

void ACamera::ResizeCamera ( int  Width = 1280,
int  Height = 720 
)

Resize camera and custom Unreal Window certain size

Definition at line 869 of file Camera.cpp.

870{
871 if (Width == 0 || Height == 0)
872 {
873 return;
874 }
875
876 CameraParameters.Width = Width;
877 CameraParameters.Height = Height;
879}
void ChangeCameraParameters(FCameraBaseParameters newParameters)
Definition: Camera.cpp:55

References CameraParameters, ChangeCameraParameters(), FCameraBaseParameters::Height, and FCameraBaseParameters::Width.

◆ SaveCameraMetaDataToDisk()

void ACamera::SaveCameraMetaDataToDisk ( const FString &  ImageName)
protected

Definition at line 784 of file Camera.cpp.

785{
786 if (!IsValid(LogFile))
787 {
788 // If the log file located in base class is not valid, return here.
789 return;
790 }
791
792 const FVector ActorPosition = GetActorLocation();
793 const FRotator ActorRotation = GetActorRotation();
794
795 FString MetaData;
796
797 FString TimeStamp = CreateTimeStampString();
798
800 {
801 FGeographicCoordinates GeoCoordinates = UCoordinateConversionUtilities::UnrealToGeographicCoordinates(GeoReferencingSystem, ActorPosition);
802 MetaData = FString::Printf(TEXT("%s, %s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.8f, %.8f, %.8f"),
803 *TimeStamp, *ImageName,
804 ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
805 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll,
806 GeoCoordinates.Latitude, GeoCoordinates.Longitude, GeoCoordinates.Altitude);
807 }
808 else
809 {
810 MetaData = FString::Printf(TEXT("%s, %s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f"),
811 *TimeStamp, *ImageName,
812 ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
813 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll);
814 }
815
816 // Write to the log file (this is written after sensor is destroyed)
817 WriteToLogFile(MetaData);
818}
FString CreateTimeStampString() const
Definition: Sensor.cpp:323
static FGeographicCoordinates UnrealToGeographicCoordinates(AGeoReferencingSystem *GeoReferencingSystem, const FVector &Position)

References ASensor::CreateTimeStampString(), GeoReferencingSystem, ASensor::LogFile, UCoordinateConversionUtilities::UnrealToGeographicCoordinates(), and ASensor::WriteToLogFile().

Referenced by SaveImageToDisk().

◆ SaveCurrentFrameToDisk()

void ACamera::SaveCurrentFrameToDisk ( )
inline

Saves this frame to disk even if CameraParameters.SaveImageToDisk is set to false.

Definition at line 192 of file Camera.h.

193 {
195 {
197 }
198 }

Referenced by ADataCapture::CaptureDataNow().

◆ SaveImageToDisk()

void ACamera::SaveImageToDisk ( const TArray< FColor >  FrameBuffer,
int32  Width,
int32  Height 
)
protected

Save Image data as png to disk

Parameters
FrameBufferImage buffer
widthImage width
heightImage height

Definition at line 743 of file Camera.cpp.

744{
745 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SaveImageToDisk);
746
747 if (FrameBuffer.IsEmpty() || Width == 0 || Height == 0)
748 {
749 return;
750 }
751
752 int32 Size = Width * Height;
753 if (FrameBuffer.Num() != Size)
754 {
755 FString Msg = "Camera sensor: Unable to save Image to disk. FrameBuffer size and resolution don't match!";
757 return;
758 }
759
760 FString ImageName = FString::Printf(TEXT("image_%d.png"), ImageNumber);
761 FString fullFileName = FString::Printf(TEXT("%s%s"), *FileSavePath, *ImageName);
762 ++ImageNumber;
763
764 SaveCameraMetaDataToDisk(ImageName);
765
766 FIntPoint DestSize(Width, Height);
767 TImagePixelData<FColor> PixelData(DestSize);
768 PixelData.Pixels = FrameBuffer;
769
770 // Create ImageTask
771 TUniquePtr<FImageWriteTask> ImageTask = MakeUnique<FImageWriteTask>();
772 ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(PixelData);
773 ImageTask->Filename = fullFileName;
774 ImageTask->Format = EImageFormat::PNG;
775 ImageTask->CompressionQuality = (int32)EImageCompressionQuality::Default;
776 ImageTask->bOverwriteFile = true;
777 ImageTask->PixelPreProcessors.Add(TAsyncAlphaWrite<FColor>(255));
778
779 // Get Screenshot config and enqueue image save task
780 FHighResScreenshotConfig& HighResScreenshotConfig = GetHighResScreenshotConfig();
781 TFuture<bool> CompletionFuture = HighResScreenshotConfig.ImageWriteQueue->Enqueue(MoveTemp(ImageTask));
782}
int32 ImageNumber
Definition: Camera.h:378
void SaveCameraMetaDataToDisk(const FString &ImageName)
Definition: Camera.cpp:784

References ASensor::FileSavePath, ImageNumber, SimulatorLog::Log(), SaveCameraMetaDataToDisk(), and SaveImageToDisk().

Referenced by FrameGrabberCapture(), and SaveImageToDisk().

◆ SendImageDataToROS()

void ACamera::SendImageDataToROS ( const TArray< FColor > &  FrameBuffer,
int32  Width,
int32  Height 
)
protected

Construct ROS Image msg and send data to ROS topic

Parameters
FrameBufferPixel array
widthImage width
heightImage height

Definition at line 683 of file Camera.cpp.

684{
685 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SendImageDataToROS);
686
687 UTopic* Topic = GetROSTopic();
688 if (!SendDataToROS
689 || !Topic
690 || !IsROSConnected()
691 || FrameBuffer.IsEmpty()
692 || !ImageMsg.IsValid())
693 {
694 return;
695 }
696
697 // Cast TArray<FColor> into uint8[] data with all channels (RBGA)
698 // Currently not in use but left here incase this is ever needed again.
699 //ImageMsg->encoding = "bgra8";
700 //ImageMsg->step = Width * 4;
701 //ImageMsg->data = const_cast<uint8*>(reinterpret_cast<const uint8*>(FrameBuffer.GetData()));
702
703
704 // Convert TArray<FColor> to uint8[] data without alpha channel
705 // By removing alpha channel, we reduce ~25% of ROS bandwidth,
706 // but costs a bit more in processing time here
707 // First we double check current buffer size matches with the required size
708 const int32 BufferSize = Width * Height * 3;
709 if (!BGR8Buffer || CurrentBufferSize != BufferSize)
710 {
711 // Resize buffer if needed
712 delete[] BGR8Buffer;
713 BGR8Buffer = new uint8[BufferSize];
714 CurrentBufferSize = BufferSize;
715 }
716
717 // Convert TArray<FColor> to uint8[] data without alpha channel
718 uint8* Dest = BGR8Buffer;
719 const FColor* Source = FrameBuffer.GetData();
720 const int32 PixelCount = FrameBuffer.Num();
721
722 for (int32 i = 0; i < PixelCount; ++i)
723 {
724 const FColor& Pixel = Source[i];
725 *Dest++ = Pixel.B;
726 *Dest++ = Pixel.G;
727 *Dest++ = Pixel.R;
728 }
729
730 // Assign BGR8Buffer to ImageMsg data
731 ImageMsg->data = BGR8Buffer;
732
733 // Update rest of the ImageMsg values
734 ImageMsg->step = Width * 3;
735 ImageMsg->height = Height;
736 ImageMsg->width = Width;
737 ImageMsg->header.time = FROSTime::Now();
738
739 // Send Image to ROS
740 Topic->Publish(ImageMsg);
741}
UTopic * GetROSTopic() const
Definition: Sensor.h:150
FORCEINLINE bool IsROSConnected() const
Definition: Sensor.h:201

References BGR8Buffer, CurrentBufferSize, ASensor::GetROSTopic(), ImageMsg, ASensor::IsROSConnected(), ASensor::SendDataToROS, and SendImageDataToROS().

Referenced by FrameGrabberCapture(), and SendImageDataToROS().

◆ SetShadowRendering()

void ACamera::SetShadowRendering ( bool  RenderShadows)

Set should this camera USceneCaptureComponent2D render shadows

Definition at line 849 of file Camera.cpp.

850{
852 {
853 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
854 CameraShowFlags.SetDynamicShadows(RenderShadows);
855 CameraShowFlags.SetContactShadows(RenderShadows);
856 CameraShowFlags.SetCapsuleShadows(RenderShadows);
857 }
858}

References CaptureComponent2D.

Referenced by ADepthCamera::Init(), AInstanceSegmentationCamera::Init(), ASemanticSegmentationCamera::Init(), and AThermalCamera::Init().

◆ SetTemporalAA()

void ACamera::SetTemporalAA ( bool  SetTemporal)

Set USceneCaptureComponent2D TemporalAA on or off.

Definition at line 860 of file Camera.cpp.

861{
863 {
864 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
865 CameraShowFlags.SetTemporalAA(SetTemporal);
866 }
867}

References CaptureComponent2D.

Referenced by SetupCamera().

◆ SetupCamera()

void ACamera::SetupCamera ( FCameraBaseParameters  parameters)
private

Setup all needed things to make Camera operate.

Definition at line 128 of file Camera.cpp.

129{
131 {
132#if WITH_EDITOR
133 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: CaptureComponent2D is nullptr!"));
134#endif
135 return;
136 }
137
138 CameraParameters = parameters;
139
141
143 {
145 }
146
147 const bool UsePostProcessingEffects = CameraParameters.PostProcessingEffects;
148 auto& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
149
150 if (parameters.UsePhysicLensDistortionEffect)
151 {
152 if (!PhysicLensDistortion.IsValid())
153 {
154 const FString Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion";
155 PhysicLensDistortion = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
156
157 if (PhysicLensDistortion.IsValid())
158 {
159 PostProcessSettings.AddBlendable(PhysicLensDistortion.Get(), 1.0f);
160#if WITH_EDITOR
161 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Added physics lens distortion effect."));
162#endif
163 }
164 }
165 }
166 else if (PhysicLensDistortion.IsValid())
167 {
168 PostProcessSettings.RemoveBlendable(PhysicLensDistortion.Get());
169 PhysicLensDistortion.Reset();
170#if WITH_EDITOR
171 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Removed physics lens distortion effect."));
172#endif
173 }
174
175 if (parameters.UseIceLensEffect)
176 {
177 if (!IceMaterialInstance.IsValid())
178 {
179 const FString Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/CameraPostProcessEffects/m_ice_lens_effect";
180 UMaterial* LoadedIceMaterial = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
181
182 // Create UMaterialInstanceDynamic from LoadedIceMaterial
183 IceMaterialInstance = UMaterialInstanceDynamic::Create(LoadedIceMaterial, nullptr);
184 if (IceMaterialInstance.IsValid())
185 {
186 // Add material to CaptureComponent2D PostProcessSettings
187 PostProcessSettings.AddBlendable(IceMaterialInstance.Get(), 1.0f);
188#if WITH_EDITOR
189 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Added ice lens effect."));
190#endif
191 }
192 }
193
194 UMaterialInstanceDynamic* IceMatInstance = IceMaterialInstance.Get();
195 if (IceMatInstance)
196 {
197 // Set IceMaterialInstance scalar parameters values
198 IceMatInstance->SetScalarParameterValue(FName("Strength"), parameters.IceLensEffectStrength);
199 IceMatInstance->SetScalarParameterValue(FName("Angle"), parameters.IceLensEffectAngle);
200#if WITH_EDITOR
201 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Changed ice lens effect parameters."));
202#endif
203 }
204 }
205 else if (IceMaterialInstance.IsValid())
206 {
207 UMaterialInstanceDynamic* IceMatInstance = IceMaterialInstance.Get();
208 if (IceMatInstance)
209 {
210 // Remove material from CaptureComponent2D PostProcessSettings
211 PostProcessSettings.RemoveBlendable(IceMatInstance);
212 IceMaterialInstance.Reset();
213
214#if WITH_EDITOR
215 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Removed ice lens effect."));
216#endif
217 }
218 }
219
222 const float TargetGamma = CameraParameters.TargetGamma;
223 const bool Enable16BitFormat = CameraParameters.Enable16BitFormat;
224
225 CaptureRenderTarget->InitCustomFormat(ImageWidth, ImageHeight, Enable16BitFormat ? PF_FloatRGB : PF_B8G8R8A8, !UsePostProcessingEffects);
226
227 CaptureRenderTarget->TargetGamma = TargetGamma;
228
229 // Set PostProcessSettings override (on or off)
230 PostProcessSettings.bOverride_AutoExposureMethod = UsePostProcessingEffects;
231 PostProcessSettings.bOverride_AutoExposureBias = UsePostProcessingEffects;
232 PostProcessSettings.bOverride_AutoExposureMinBrightness = UsePostProcessingEffects;
233 PostProcessSettings.bOverride_AutoExposureMaxBrightness = UsePostProcessingEffects;
234 PostProcessSettings.bOverride_AutoExposureSpeedUp = UsePostProcessingEffects;
235 PostProcessSettings.bOverride_AutoExposureSpeedDown = UsePostProcessingEffects;
236 PostProcessSettings.bOverride_HistogramLogMin = UsePostProcessingEffects;
237 PostProcessSettings.bOverride_HistogramLogMax = UsePostProcessingEffects;
238 PostProcessSettings.bOverride_CameraShutterSpeed = UsePostProcessingEffects;
239 PostProcessSettings.bOverride_CameraISO = UsePostProcessingEffects;
240 PostProcessSettings.bOverride_DepthOfFieldFstop = UsePostProcessingEffects;
241 PostProcessSettings.bOverride_DepthOfFieldMinFstop = UsePostProcessingEffects;
242 PostProcessSettings.bOverride_DepthOfFieldBladeCount = UsePostProcessingEffects;
243 PostProcessSettings.bOverride_FilmSlope = UsePostProcessingEffects;
244 PostProcessSettings.bOverride_FilmToe = UsePostProcessingEffects;
245 PostProcessSettings.bOverride_FilmShoulder = UsePostProcessingEffects;
246 PostProcessSettings.bOverride_FilmWhiteClip = UsePostProcessingEffects;
247 PostProcessSettings.bOverride_FilmBlackClip = UsePostProcessingEffects;
248 PostProcessSettings.bOverride_MotionBlurAmount = UsePostProcessingEffects;
249 PostProcessSettings.bOverride_MotionBlurMax = UsePostProcessingEffects;
250 PostProcessSettings.bOverride_MotionBlurPerObjectSize = UsePostProcessingEffects;
251 PostProcessSettings.bOverride_WhiteTemp = UsePostProcessingEffects;
252 PostProcessSettings.bOverride_WhiteTint = UsePostProcessingEffects;
253 PostProcessSettings.bOverride_ColorContrast = UsePostProcessingEffects;
254 PostProcessSettings.bOverride_SceneFringeIntensity = UsePostProcessingEffects;
255 PostProcessSettings.bOverride_ChromaticAberrationStartOffset = UsePostProcessingEffects;
256 PostProcessSettings.bOverride_AmbientOcclusionIntensity = UsePostProcessingEffects;
257 PostProcessSettings.bOverride_AmbientOcclusionRadius = UsePostProcessingEffects;
258 PostProcessSettings.bOverride_AmbientOcclusionStaticFraction = UsePostProcessingEffects;
259 PostProcessSettings.bOverride_AmbientOcclusionFadeDistance = UsePostProcessingEffects;
260 PostProcessSettings.bOverride_AmbientOcclusionPower = UsePostProcessingEffects;
261 PostProcessSettings.bOverride_AmbientOcclusionBias = UsePostProcessingEffects;
262 PostProcessSettings.bOverride_AmbientOcclusionQuality = UsePostProcessingEffects;
263 PostProcessSettings.bOverride_BloomMethod = UsePostProcessingEffects;
264 PostProcessSettings.bOverride_BloomIntensity = UsePostProcessingEffects;
265 PostProcessSettings.bOverride_BloomThreshold = UsePostProcessingEffects;
266 PostProcessSettings.bOverride_LensFlareIntensity = UsePostProcessingEffects;
267 PostProcessSettings.bOverride_DepthOfFieldFocalDistance = UsePostProcessingEffects;
268 PostProcessSettings.bOverride_DepthOfFieldDepthBlurAmount = UsePostProcessingEffects;
269 PostProcessSettings.bOverride_DepthOfFieldDepthBlurRadius = UsePostProcessingEffects;
270
271 // Set PostProcessSettings values
272 PostProcessSettings.CameraShutterSpeed = CameraParameters.ShutterSpeed;
273 PostProcessSettings.CameraISO = CameraParameters.ISO;
274 PostProcessSettings.DepthOfFieldFstop = CameraParameters.Aperture;
275 PostProcessSettings.DepthOfFieldFocalDistance = CameraParameters.FocalDistance;
276 PostProcessSettings.DepthOfFieldDepthBlurAmount = CameraParameters.DepthBlurAmount;
277 PostProcessSettings.DepthOfFieldDepthBlurRadius = CameraParameters.DepthBlurRadius;
278 PostProcessSettings.DepthOfFieldMinFstop = CameraParameters.DofMinFStop;
279 PostProcessSettings.DepthOfFieldBladeCount = CameraParameters.DofBladeCount;
280 PostProcessSettings.FilmSlope = CameraParameters.FilmSlope;
281 PostProcessSettings.FilmToe = CameraParameters.FilmToe;
282 PostProcessSettings.FilmShoulder = CameraParameters.FilmShoulder;
283 PostProcessSettings.FilmBlackClip = CameraParameters.FilmBlackClip;
284 PostProcessSettings.FilmWhiteClip = CameraParameters.FilmWhiteClip;
285 PostProcessSettings.AutoExposureMinBrightness = CameraParameters.ExposureMinBrightness;
286 PostProcessSettings.AutoExposureMaxBrightness = CameraParameters.ExposureMaxBrightness;
287 PostProcessSettings.AutoExposureSpeedUp = CameraParameters.ExposureSpeedUp;
288 PostProcessSettings.AutoExposureSpeedDown = CameraParameters.ExposureSpeedDown;
289 PostProcessSettings.MotionBlurAmount = CameraParameters.MotionBlurIntensity;
290 PostProcessSettings.MotionBlurMax = CameraParameters.MotionBlurMax;
291 PostProcessSettings.MotionBlurPerObjectSize = CameraParameters.MotionBlurMinObjSize;
292 PostProcessSettings.LensFlareIntensity = CameraParameters.LensFlareIntensity;
293 PostProcessSettings.BloomIntensity = CameraParameters.BloomIntensity;
294 PostProcessSettings.WhiteTemp = CameraParameters.WhiteTemp;
295 PostProcessSettings.WhiteTint = CameraParameters.WhiteTint;
296 PostProcessSettings.SceneFringeIntensity = CameraParameters.ChromAberrIntensity;
297 PostProcessSettings.ChromaticAberrationStartOffset = CameraParameters.ChromAberrOffset;
298
301
303 {
305 }
306 else
307 {
308 CaptureComponent2D->MaxViewDistanceOverride = -1.0f; // Infinite
309 }
310
312 {
313 // Enable HDR on CaptureSource, only allowed for RGB Camera for now.
314 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalToneCurveHDR;
315 }
316 else
317 {
318 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
319 }
320
321 CaptureComponent2D->bUseRayTracingIfEnabled = true;
322 CaptureComponent2D->UpdateContent();
323 CaptureComponent2D->Activate();
324
326
327 FString Encoding = "bgr8";
328
329 // Create ROS Image message
330 ImageMsg.Reset();
331 ImageMsg = MakeShared<ROSMessages::sensor_msgs::Image>();
332 ImageMsg->header.frame_id = "world";
333 ImageMsg->height = ImageWidth;
334 ImageMsg->width = ImageHeight;
335 ImageMsg->encoding = Encoding;
336 ImageMsg->is_bigendian = 0;
337 ImageMsg->step = ImageWidth * 4;
338
340
341 if (!UnrealWindow.IsValid())
342 {
343 // Create and setup UnrealWindow
344 FString windowName = GetSensorIdentifier() + " Window";
346
347 // Set on Window closed event
349 UnrealWindow->GetSWindow()->SetOnWindowClosed(OnWindowClosedDelegate);
350
351 // try to create Camera parameter Widget from path
352 FSoftClassPath WidgetClassPath(TEXT("/Game/Agrarsense/Widgets/Camera/WBP_CameraControlsMenu.WBP_CameraControlsMenu_C"));
353 UClass* WidgetClass = WidgetClassPath.TryLoadClass<UUserWidget>();
354
355 APlayerController* PlayerController = UGameplayStatics::GetPlayerController(GetWorld(), 0);
356
357 if (WidgetClass && PlayerController)
358 {
359 UCameraWidgetBase* WidgetInstance = CreateWidget<UCameraWidgetBase>(PlayerController, WidgetClass);
360 if (WidgetInstance)
361 {
362 bool ShowGuide = false;
363 WidgetInstance->Setup(this, ShowGuide);
364 this->AddWidgetToWindow(WidgetInstance);
365 }
366 }
367 }
368
369 bool Resized = false;
370 if (UnrealWindow.IsValid())
371 {
372 UnrealWindow->SetupComponent(CaptureRenderTarget);
373 if (UnrealWindow->GetWindowWidth() != ImageWidth || UnrealWindow->GetWindowHeight() != ImageHeight)
374 {
375 UnrealWindow->ResizeWindow(ImageWidth, ImageHeight);
376 Resized = true;
377 }
378 }
379
381
382 if (Resized)
383 {
385 }
386
388 {
390 }
391}
virtual ESensorTypes GetSensorType() const override
Definition: Camera.h:74
void OnWindowClosed(const TSharedRef< SWindow > &Window)
Definition: Camera.cpp:820
void StartFrameGrabber()
Definition: Camera.cpp:635
void AddWidgetToWindow(UWidget *WidgetToAdd)
Definition: Camera.cpp:833
void SetTemporalAA(bool SetTemporal)
Definition: Camera.cpp:860
TWeakObjectPtr< UMaterial > PhysicLensDistortion
Definition: Camera.h:302
FCameraDelegate_OnWindowResized OnCameraWindowResized
Definition: Camera.h:148
float CameraFrameRate
Definition: Camera.h:375
FString GetSensorIdentifier() const
Definition: Sensor.h:75
virtual void CreateROSTopic()
Definition: Sensor.cpp:190
static bool ShouldStartWindowMinimized()
virtual void Setup(ACamera *CameraRef, bool ShowOnStartup=true)

References AddWidgetToWindow(), FCameraBaseParameters::Aperture, FCameraBaseParameters::BloomIntensity, CameraFrameRate, CameraParameters, CaptureComponent2D, CaptureRenderTarget, FCameraBaseParameters::ChromAberrIntensity, FCameraBaseParameters::ChromAberrOffset, CreateLogFile(), ASensor::CreateROSTopic(), FCameraBaseParameters::DepthBlurAmount, FCameraBaseParameters::DepthBlurRadius, FCameraBaseParameters::DofBladeCount, FCameraBaseParameters::DofMinFStop, FCameraBaseParameters::Enable16BitFormat, FCameraBaseParameters::ExposureMaxBrightness, FCameraBaseParameters::ExposureMinBrightness, FCameraBaseParameters::ExposureSpeedDown, FCameraBaseParameters::ExposureSpeedUp, FCameraBaseParameters::FilmBlackClip, FCameraBaseParameters::FilmShoulder, FCameraBaseParameters::FilmSlope, FCameraBaseParameters::FilmToe, FCameraBaseParameters::FilmWhiteClip, FCameraBaseParameters::FocalDistance, FCameraBaseParameters::FOV, ASensor::GetSensorIdentifier(), GetSensorType(), FCameraBaseParameters::Height, FCameraBaseParameters::IceLensEffectAngle, FCameraBaseParameters::IceLensEffectStrength, IceMaterialInstance, ImageHeight, ImageMsg, ImageWidth, FCameraBaseParameters::ISO, FCameraBaseParameters::LensFlareIntensity, FCameraBaseParameters::MaxViewDistanceInCmOverride, FCameraBaseParameters::MotionBlurIntensity, FCameraBaseParameters::MotionBlurMax, FCameraBaseParameters::MotionBlurMinObjSize, OnCameraWindowResized, OnWindowClosed(), OnWindowClosedDelegate, PhysicLensDistortion, FCameraBaseParameters::PostProcessingEffects, RGBCamera, FCameraBaseParameters::SaveImageToDisk, FCameraBaseParameters::SendDataToROS, ASensor::SendDataToROS, SetTemporalAA(), UCameraWidgetBase::Setup(), UAgrarsenseSettings::ShouldStartWindowMinimized(), FCameraBaseParameters::ShutterSpeed, StartFrameGrabber(), FCameraBaseParameters::TargetFrameRate, FCameraBaseParameters::TargetGamma, UnrealWindow, FCameraBaseParameters::UseHDR, FCameraBaseParameters::UseIceLensEffect, FCameraBaseParameters::UsePhysicLensDistortionEffect, FCameraBaseParameters::UseTemporalAA, FCameraBaseParameters::WhiteTemp, FCameraBaseParameters::WhiteTint, and FCameraBaseParameters::Width.

Referenced by ChangeCameraParameters(), and Init().

◆ SetUseGimbal()

void ACamera::SetUseGimbal ( bool  UseGimbal)
inline

Definition at line 213 of file Camera.h.

214 {
215 AllowGimbal = UseGimbal;
216 }

◆ ShouldSimulate()

bool ACamera::ShouldSimulate ( const float  DeltaSeconds)
private

Should this camera sensor be simulated this frame

Definition at line 528 of file Camera.cpp.

529{
530 if (!CanSimulateSensor())
531 {
532 ShouldSimulateCamera = false;
534 }
535
537 {
540 }
541
542 FrameRateTimer += DeltaSeconds;
544 {
545 FrameRateTimer = 0.0f;
548 }
549
550 ShouldSimulateCamera = false;
551
553}
float FrameRateTimer
Definition: Camera.h:376
bool CanSimulateSensor() const
Definition: Sensor.h:170

References CameraFrameRate, CameraParameters, ASensor::CanSimulateSensor(), FrameRateTimer, ShouldSimulateCamera, and FCameraBaseParameters::TargetFrameRate.

Referenced by PreActorTick().

◆ StartFrameGrabber()

void ACamera::StartFrameGrabber ( )
private

Setup and start FrameGrabber

Definition at line 635 of file Camera.cpp.

636{
637 if (!UnrealWindow.IsValid())
638 {
639#if WITH_EDITOR
640 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: UnrealWindow is nullptr!"));
641#endif
642 return;
643 }
644
645 // Destroy old FrameGrabber
647
648 TSharedPtr<FSceneViewport> SceneViewport = UnrealWindow->GetSceneViewport();
649 if (SceneViewport.IsValid() && CaptureRenderTarget)
650 {
651 EPixelFormat PixelFormat = GetPixelFormatFromRenderTargetFormat(TextureFormat);
652 FIntPoint Size = SceneViewport->GetSize();
653
655 {
656 // Currently only DVS camera needs this texture to render DVS output into separate FUnrealWindow.
657 CaptureFrameTexture = UTexture2D::CreateTransient(Size.X, Size.Y, PixelFormat);
658 CaptureFrameTexture->UpdateResource();
659 }
660
661 FrameGrabber = MakeShareable(new FFrameGrabber(SceneViewport.ToSharedRef(), Size, PixelFormat));
662 FrameGrabber->StartCapturingFrames();
663 }
664}
TEnumAsByte< ETextureRenderTargetFormat > TextureFormat
Definition: Camera.h:134

References CaptureFrameTexture, CaptureRenderTarget, DVSCamera, FrameGrabber, GetSensorType(), ReleaseFrameGrabber(), TextureFormat, and UnrealWindow.

Referenced by SetupCamera().

Member Data Documentation

◆ AllowGimbal

bool ACamera::AllowGimbal = true
protected

Definition at line 307 of file Camera.h.

Referenced by BeginPlay(), and PreActorTick().

◆ BGR8Buffer

uint8* ACamera::BGR8Buffer = nullptr
private

Definition at line 380 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ CameraFrameRate

float ACamera::CameraFrameRate = 0.0f
private

Definition at line 375 of file Camera.h.

Referenced by SetupCamera(), and ShouldSimulate().

◆ CameraName

FString ACamera::CameraName = "Camera "
protected

Camera title name for the new Unreal Window For example: "Camera 2 Window" or "ThermalCamera 1 Window" Accessible in inherited classes.

Definition at line 279 of file Camera.h.

Referenced by ADepthCamera::Init(), ADVSCamera::Init(), AInstanceSegmentationCamera::Init(), ASemanticSegmentationCamera::Init(), and AThermalCamera::Init().

◆ CameraParameters

FCameraBaseParameters ACamera::CameraParameters
private

Current Camera parameters.

Definition at line 351 of file Camera.h.

Referenced by FrameGrabberCapture(), ResizeCamera(), SetupCamera(), and ShouldSimulate().

◆ CaptureComponent2D

USceneCaptureComponent2D* ACamera::CaptureComponent2D = nullptr
protected

◆ CaptureFrameTexture

UTexture2D* ACamera::CaptureFrameTexture
protected

public UTexture2D variable pointer BlueprintReadOnly.

Definition at line 294 of file Camera.h.

Referenced by ReleaseFrameGrabber(), StartFrameGrabber(), and ADVSCamera::UpdateDVSWindowOutput().

◆ CaptureRenderTarget

UTextureRenderTarget2D* ACamera::CaptureRenderTarget = nullptr
protected

Definition at line 284 of file Camera.h.

Referenced by ACamera(), EndPlay(), SetupCamera(), and StartFrameGrabber().

◆ CurrentBufferSize

int32 ACamera::CurrentBufferSize = 0
private

Definition at line 382 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ DronePtr

APIDDrone* ACamera::DronePtr = nullptr
protected

Definition at line 305 of file Camera.h.

Referenced by BeginPlay(), and PreActorTick().

◆ FilePrefix

FString ACamera::FilePrefix = "Data/Camera_"
protected

◆ FrameGrabber

TSharedPtr<FFrameGrabber> ACamera::FrameGrabber
private

FrameGrabber TSharedPtr

Definition at line 335 of file Camera.h.

Referenced by FrameGrabberCapture(), PreActorTick(), ReleaseFrameGrabber(), and StartFrameGrabber().

◆ FrameRateTimer

float ACamera::FrameRateTimer = 0.0f
private

Definition at line 376 of file Camera.h.

Referenced by ShouldSimulate().

◆ GeoReferencingSystem

AGeoReferencingSystem* ACamera::GeoReferencingSystem = nullptr
private

Definition at line 360 of file Camera.h.

Referenced by CreateLogFile(), and SaveCameraMetaDataToDisk().

◆ IceMaterialInstance

TWeakObjectPtr<UMaterialInstanceDynamic> ACamera::IceMaterialInstance
protected

Definition at line 300 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ImageHeight

int32 ACamera::ImageHeight = 720
private

Definition at line 369 of file Camera.h.

Referenced by FrameGrabberCapture(), and SetupCamera().

◆ ImageMsg

TSharedPtr<ROSMessages::sensor_msgs::Image> ACamera::ImageMsg
private

Definition at line 366 of file Camera.h.

Referenced by EndPlay(), SendImageDataToROS(), and SetupCamera().

◆ ImageNumber

int32 ACamera::ImageNumber = 0
private

Definition at line 378 of file Camera.h.

Referenced by SaveImageToDisk().

◆ ImageWidth

int32 ACamera::ImageWidth = 1280
private

Definition at line 368 of file Camera.h.

Referenced by FrameGrabberCapture(), and SetupCamera().

◆ OnCameraWindowClosed

FCameraDelegate_OnWindowClosed ACamera::OnCameraWindowClosed

On Camera sensor destroyed event. BlueprintAssignable.

Returns
ACamera pointer

Definition at line 141 of file Camera.h.

Referenced by OnWindowClosed().

◆ OnCameraWindowResized

FCameraDelegate_OnWindowResized ACamera::OnCameraWindowResized

On Camera sensor window resized event. BlueprintAssignable.

Returns
ACamera pointer

Definition at line 148 of file Camera.h.

Referenced by ADVSCamera::EndPlay(), ADVSCamera::Init(), and SetupCamera().

◆ OnPostTickDelegate

FDelegateHandle ACamera::OnPostTickDelegate
protected

Definition at line 240 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnPreTickDelegate

FDelegateHandle ACamera::OnPreTickDelegate
protected

Definition at line 237 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnWindowClosedDelegate

FOnWindowClosed ACamera::OnWindowClosedDelegate
private

Definition at line 364 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ParametersChanged

bool ACamera::ParametersChanged = false
private

Definition at line 362 of file Camera.h.

◆ PhysicLensDistortion

TWeakObjectPtr<UMaterial> ACamera::PhysicLensDistortion
protected

Definition at line 302 of file Camera.h.

Referenced by SetupCamera().

◆ SaveCurrentFrameToDiskRequested

bool ACamera::SaveCurrentFrameToDiskRequested = false
private

Definition at line 371 of file Camera.h.

Referenced by FrameGrabberCapture().

◆ SensorSetRotation

FRotator ACamera::SensorSetRotation
protected

Definition at line 306 of file Camera.h.

Referenced by PreActorTick().

◆ ShouldSimulateCamera

bool ACamera::ShouldSimulateCamera = true
private

Definition at line 373 of file Camera.h.

Referenced by FrameGrabberCapture(), and ShouldSimulate().

◆ TempParams

FCameraBaseParameters ACamera::TempParams
private

Definition at line 357 of file Camera.h.

◆ TextureFormat

TEnumAsByte<ETextureRenderTargetFormat> ACamera::TextureFormat = ETextureRenderTargetFormat::RTF_RGBA8

public TEnumAsByte<ETextureRenderTargetFormat> variable BlueprintReadOnly.

Definition at line 134 of file Camera.h.

Referenced by StartFrameGrabber().

◆ TickEntry

FTickEntry ACamera::TickEntry
protected

Definition at line 298 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ UnrealWindow

TSharedPtr<FUnrealWindow> ACamera::UnrealWindow
protected

◆ UseParallelLateTick

bool ACamera::UseParallelLateTick = true
protected

Definition at line 235 of file Camera.h.

Referenced by ADVSCamera::ADVSCamera(), BeginPlay(), and EndPlay().


The documentation for this class was generated from the following files: