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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 (int32 Width=1280, int32 Height=720)
 
void AddHiddenActor (AActor *Actor)
 
void SaveCurrentFrameToDisk ()
 
int32 GetCameraWidth () const
 
int32 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 UpdateCameraStabilization ()
 
void EndOfFrame (UWorld *World, ELevelTick TickType, float DeltaSeconds)
 
void PixelReadEndOfFrame (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
 
TSharedPtr< ROSMessages::sensor_msgs::Image > ImageMsg
 
bool UseReadPixels = false
 
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 ReadPixelsCapture ()
 
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
 
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 33 of file Camera.cpp.

33 : Super(ObjectInitializer)
34{
35 PrimaryActorTick.bCanEverTick = true;
36 PrimaryActorTick.TickGroup = TG_PostUpdateWork;
37
38 CaptureRenderTarget = CreateDefaultSubobject<UTextureRenderTarget2D>(FName(*FString::Printf(TEXT("CaptureRenderTarget"))));
39 CaptureRenderTarget->CompressionSettings = TextureCompressionSettings::TC_Default;
40 CaptureRenderTarget->SRGB = false;
41 //CaptureRenderTarget->bForceLinearGamma = true;
42 CaptureRenderTarget->bAutoGenerateMips = false;
43 CaptureRenderTarget->bGPUSharedFlag = true;
44 //CaptureRenderTarget->RenderTargetFormat = RTF_RGBA8;
45 CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
46 CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
47
48 CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(FName(*FString::Printf(TEXT("SceneCaptureComponent2D"))));
49 CaptureComponent2D->SetupAttachment(RootComponent);
50 CaptureComponent2D->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_RenderScenePrimitives;
51 CaptureComponent2D->bCaptureOnMovement = false;
52 CaptureComponent2D->bCaptureEveryFrame = false;
53 CaptureComponent2D->bAlwaysPersistRenderingState = true;
54}
USceneCaptureComponent2D * CaptureComponent2D
Definition: Camera.h:292
UTextureRenderTarget2D * CaptureRenderTarget
Definition: Camera.h:289

References CaptureComponent2D, and CaptureRenderTarget.

Member Function Documentation

◆ AddHiddenActor()

void ACamera::AddHiddenActor ( AActor *  Actor)

Definition at line 961 of file Camera.cpp.

962{
963 if (Actor && CaptureComponent2D)
964 {
965 CaptureComponent2D->HiddenActors.AddUnique(Actor);
966 }
967}

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 61 of file Camera.cpp.

62{
63 UMaterial* PostProcessingMat = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
64 if (PostProcessingMat && CaptureComponent2D)
65 {
66 FPostProcessSettings& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
67 PostProcessSettings.AddBlendable(PostProcessingMat, Weight);
68 }
69 else
70 {
71 const FString ErrorMessage = FString::Printf(TEXT("Failed to add post-processing material to sensor: %s"), *GetSensorName());
72 SimulatorLog::Log(ErrorMessage);
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, ASemanticSegmentationCamera, and ADVSCamera.

Definition at line 664 of file Camera.cpp.

665{
666 return;
667}

Referenced by FrameGrabberCapture().

◆ AddWidgetToWindow()

void ACamera::AddWidgetToWindow ( UWidget *  WidgetToAdd)

Add Widget to custom Unreal Window

Definition at line 913 of file Camera.cpp.

914{
915 if (UnrealWindow.IsValid() && WidgetToAdd)
916 {
917 UnrealWindow->AddUWidgetToWindow(WidgetToAdd);
918 }
919}
TSharedPtr< FUnrealWindow > UnrealWindow
Definition: Camera.h:301

References UnrealWindow.

Referenced by SetupCamera().

◆ ApplyGammaCorrectionLUT()

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

Definition at line 669 of file Camera.cpp.

670{
671 static uint8 GammaLUT[256];
672 static bool LUTInitialized = false;
673 if (!LUTInitialized)
674 {
675 LUTInitialized = true;
676 for (int32 i = 0; i < 256; ++i)
677 {
678 float Linear = FMath::Pow(i / 255.0f, 2.2f);
679 GammaLUT[i] = FMath::RoundToInt(Linear * 255.0f);
680 }
681 }
682
683 FColor* RESTRICT BufferPtr = Buffer.GetData();
684 const int32 Num = Buffer.Num();
685
686 const int32 ChunkSize = 512;
687 const int32 NumChunks = (Num + ChunkSize - 1) / ChunkSize;
688
689 ParallelFor(NumChunks, [BufferPtr, Num](int32 ChunkIndex)
690 {
691 const int32 Start = ChunkIndex * ChunkSize;
692 const int32 End = FMath::Min(Start + ChunkSize, Num);
693
694 for (int32 i = Start; i < End; ++i)
695 {
696 FColor& C = BufferPtr[i];
697 C.R = GammaLUT[C.R];
698 C.G = GammaLUT[C.G];
699 C.B = GammaLUT[C.B];
700 }
701 }, false);
702}

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

◆ BeginPlay()

void ACamera::BeginPlay ( )
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 404 of file Camera.cpp.

405{
406 Super::BeginPlay();
407
408 // Register to PreActorTick where USceneCaptureComponent2D will get rendered.
409 OnPreTickDelegate = FWorldDelegates::OnWorldPreActorTick.AddUObject(this, &ACamera::PreActorTick);
410
411 // Check if we should use ATickManager which ticks in parallel, or use Post actor tick
412 // In there we capture the screen pixels with FrameGrabber API,
413 // might do some extra processing, save image to disk and send data to ROS.
415 {
416 SetActorTickEnabled(false);
417 TickEntry = ATickManager::AddTick(this, BindTick(this, &ACamera::EndOfFrameParellel), ETickType::LateTickParallel);
418 }
419 else
420 {
421 SetActorTickEnabled(true);
422
423 if (UseReadPixels)
424 {
425 UE_LOG(LogTemp, Warning, TEXT("juu"));
426 OnPostTickDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ACamera::PixelReadEndOfFrame);
427 }
428 else
429 {
430 OnPostTickDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ACamera::EndOfFrame);
431 }
432 }
433
434 // Get all existing components set to be hidden for all Camera sensors (like Lidar point cloud visualization).
435 auto Components = ASensor::GetComponentsToHide();
436 for (int32 i = 0; i < Components.Num(); i++)
437 {
438 UPrimitiveComponent* Primitive = Components[i].Get();
439 if (Primitive)
440 {
441 HidePrimitiveComponent(Primitive);
442 }
443 }
444
445 OnPrimitiveAdded.AddUniqueDynamic(this, &ACamera::HidePrimitiveComponent);
446
447 GetWorld()->GetTimerManager().SetTimerForNextTick([this]()
448 {
449 if (IsValid(this))
450 {
451 DronePtr = Cast<APIDDrone>(GetAttachParentActor());
452 if (!DronePtr)
453 {
454 AllowGimbal = false;
455 }
456 }
457 });
458}
static auto BindTick(ObjectType *Object, FunctionType Function)
Definition: TickManager.h:162
bool UseParallelLateTick
Definition: Camera.h:235
FTickEntry TickEntry
Definition: Camera.h:303
bool UseReadPixels
Definition: Camera.h:311
APIDDrone * DronePtr
Definition: Camera.h:314
FDelegateHandle OnPostTickDelegate
Definition: Camera.h:242
void PixelReadEndOfFrame(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:549
FDelegateHandle OnPreTickDelegate
Definition: Camera.h:237
void HidePrimitiveComponent(UPrimitiveComponent *PrimitiveComponent)
Definition: Camera.cpp:704
void EndOfFrameParellel(float DeltaTime)
Definition: Camera.cpp:554
void EndOfFrame(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:544
void PreActorTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:508
bool AllowGimbal
Definition: Camera.h:316
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, PixelReadEndOfFrame(), PreActorTick(), TickEntry, UseParallelLateTick, and UseReadPixels.

◆ ChangeCameraParameters()

void ACamera::ChangeCameraParameters ( FCameraBaseParameters  newParameters)

Change Camera parameters on the fly. Callable from blueprint.

Parameters
FCameraBaseParametersCameraParameters struct

Definition at line 56 of file Camera.cpp.

57{
58 SetupCamera(newParameters);
59}
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 const 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:374
ULogFile * LogFile
Definition: Sensor.h:367
FString FileSavePath
Definition: Sensor.h:372
void WriteToLogFile(const FString &Message)
Definition: Sensor.cpp:302
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(), ReadPixelsCapture(), and SetupCamera().

◆ DisableShowFlags()

void ACamera::DisableShowFlags ( )

Definition at line 969 of file Camera.cpp.

970{
972 {
973 return;
974 }
975
976 auto& ShowFlags = CaptureComponent2D->ShowFlags;
977
978 ShowFlags.SetDeferredLighting(false);
979 ShowFlags.SetSkyLighting(false);
980 ShowFlags.SetAmbientOcclusion(false);
981 ShowFlags.SetAntiAliasing(false);
982 ShowFlags.SetVolumetricFog(false);;
983 ShowFlags.SetBloom(false);
984 ShowFlags.SetCameraImperfections(false);
985 ShowFlags.SetCameraInterpolation(false);
986 ShowFlags.SetColorGrading(false);
987 ShowFlags.SetDepthOfField(false);
988 ShowFlags.SetDiffuse(false);
989 ShowFlags.SetDirectionalLights(false);
990 ShowFlags.SetDirectLighting(false);
991 ShowFlags.SetDynamicShadows(false);
992 ShowFlags.SetEyeAdaptation(false);
993 ShowFlags.SetFog(false);
994 ShowFlags.SetGlobalIllumination(false);
995 ShowFlags.SetGrain(false);
996 ShowFlags.SetHLODColoration(false);
997 ShowFlags.SetHMDDistortion(false);
998 ShowFlags.SetLensFlares(false);
999 ShowFlags.SetLightComplexity(false);
1000 ShowFlags.SetLightFunctions(false);
1001 ShowFlags.SetLightInfluences(false);
1002 ShowFlags.SetLighting(false);
1003 ShowFlags.SetLightMapDensity(false);
1004 ShowFlags.SetLightRadius(false);
1005 ShowFlags.SetLightShafts(false);
1006 ShowFlags.SetLODColoration(false);
1007 ShowFlags.SetMotionBlur(false);
1008 ShowFlags.SetOnScreenDebug(false);
1009 ShowFlags.SetParticles(false);
1010 ShowFlags.SetPointLights(false);
1011 ShowFlags.SetRefraction(false);
1012 ShowFlags.SetSceneColorFringe(false);
1013 ShowFlags.SetScreenSpaceAO(false);
1014 ShowFlags.SetScreenSpaceReflections(false);
1015 ShowFlags.SetSkyLighting(false);
1016 ShowFlags.SetSpotLights(false);
1017 ShowFlags.SetStationaryLightOverlap(false);
1018 ShowFlags.SetSubsurfaceScattering(false);
1019 ShowFlags.SetTonemapper(false);
1020 ShowFlags.SetVisualizeBuffer(false);
1021 ShowFlags.SetVisualizeDistanceFieldAO(false);
1022 ShowFlags.SetVisualizeDOF(false);
1023 ShowFlags.SetVisualizeHDR(false);
1024 ShowFlags.SetVisualizeLightCulling(false);
1025 ShowFlags.SetVisualizeMeshDistanceFields(false);
1026 ShowFlags.SetVisualizeMotionBlur(false);
1027 ShowFlags.SetVisualizeOutOfBoundsPixels(false);
1028 ShowFlags.SetVisualizeSenses(false);
1029 ShowFlags.SetVisualizeShadingModels(false);
1030 ShowFlags.SetVisualizeSSR(false);
1031 ShowFlags.SetVisualizeSSS(false);
1032}

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 544 of file Camera.cpp.

545{
547}
void FrameGrabberCapture()
Definition: Camera.cpp:586

References FrameGrabberCapture().

Referenced by BeginPlay().

◆ EndOfFrameParellel()

void ACamera::EndOfFrameParellel ( float  DeltaTime)
protected

Definition at line 554 of file Camera.cpp.

555{
557}

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 460 of file Camera.cpp.

461{
462 Super::EndPlay(EndPlayReason);
463
464 FWorldDelegates::OnWorldPreActorTick.Remove(OnPreTickDelegate);
465
467 {
469 }
470 else
471 {
472 FWorldDelegates::OnWorldPostActorTick.Remove(OnPostTickDelegate);
473 }
474
475 if (UnrealWindow.IsValid())
476 {
477 OnWindowClosedDelegate.Unbind();
478 UnrealWindow->DestroyWindow();
479 UnrealWindow.Reset();
480 }
481
483
485 {
486 CaptureRenderTarget->ConditionalBeginDestroy();
487 CaptureRenderTarget = nullptr;
488 }
489
491 {
492 CaptureComponent2D->UnregisterComponent();
493 CaptureComponent2D->ConditionalBeginDestroy();
494 CaptureComponent2D = nullptr;
495 }
496
497 ImageMsg.Reset();
498 IceMaterialInstance.Reset();
499
500 if (BGR8Buffer)
501 {
502 delete[] BGR8Buffer;
503 BGR8Buffer = nullptr;
504 }
506}
FOnWindowClosed OnWindowClosedDelegate
Definition: Camera.h:378
TSharedPtr< ROSMessages::sensor_msgs::Image > ImageMsg
Definition: Camera.h:309
int32 CurrentBufferSize
Definition: Camera.h:394
void ReleaseFrameGrabber()
Definition: Camera.cpp:743
uint8 * BGR8Buffer
Definition: Camera.h:392
TWeakObjectPtr< UMaterialInstanceDynamic > IceMaterialInstance
Definition: Camera.h:305
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 586 of file Camera.cpp.

587{
588 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::FrameGrabberCapture);
589
590 if (!ShouldSimulateCamera || !FrameGrabber.IsValid())
591 {
592 return;
593 }
594
596 {
597 return;
598 }
599
600 TArray<FCapturedFrameData> Frames = FrameGrabber->GetCapturedFrames();
601 if (Frames.Num())
602 {
603 FCapturedFrameData& LastFrame = Frames.Last();
604 TArray<FColor>& ImageBuffer = LastFrame.ColorBuffer;
605
606 AddProcessingToFrameBuffer(ImageBuffer);
607
609 {
611 {
614 }
615
616 AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [this, ImageBuffer]()
617 {
619 });
620 }
621
623 }
624}
TSharedPtr< FFrameGrabber > FrameGrabber
Definition: Camera.h:349
FCameraBaseParameters CameraParameters
Definition: Camera.h:365
void SaveImageToDisk(const TArray< FColor > FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:824
bool ShouldSimulateCamera
Definition: Camera.h:385
void SendImageDataToROS(const TArray< FColor > &FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:760
bool SaveCurrentFrameToDiskRequested
Definition: Camera.h:383
void CreateLogFile() override
Definition: Camera.cpp:92
virtual void AddProcessingToFrameBuffer(TArray< FColor > &buffer)
Definition: Camera.cpp:664
int32 ImageHeight
Definition: Camera.h:381
int32 ImageWidth
Definition: Camera.h:380
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()

int32 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()

int32 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 704 of file Camera.cpp.

705{
706 if (PrimitiveComponent && CaptureComponent2D)
707 {
708 CaptureComponent2D->HideComponent(PrimitiveComponent);
709 }
710}

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:254
void SetSimulateSensor(bool SimulateSensor)
Definition: Sensor.h:160

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

Referenced by USensorFactory::SpawnCamera().

◆ OnWindowClosed()

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

On camera window closed event

Parameters
Windowreference to SWindow pointer

Definition at line 900 of file Camera.cpp.

901{
902#if WITH_EDITOR
903 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Camera window closed. Destroying Camera sensor.."));
904#endif
905
906 // Broadcast event that this Camera sensor is about be destroyed when user has clicked Window Close button.
907 OnCameraWindowClosed.Broadcast(this);
908
909 // Destroy this camera sensor
910 this->Destroy();
911}
FCameraDelegate_OnWindowClosed OnCameraWindowClosed
Definition: Camera.h:141

References Destroy, and OnCameraWindowClosed.

Referenced by SetupCamera().

◆ PixelReadEndOfFrame()

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

Definition at line 549 of file Camera.cpp.

550{
552}
void ReadPixelsCapture()
Definition: Camera.cpp:626

References ReadPixelsCapture().

Referenced by BeginPlay().

◆ PreActorTick()

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

Definition at line 508 of file Camera.cpp.

509{
510 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::PreActorTick);
511
513
514 if (ShouldSimulate(DeltaSeconds) && CaptureComponent2D)
515 {
516 // Capture scene now.
517 // We could use CaptureSceneDeferred but it would not work if World (Spectator) Rendering is disabled.
518 CaptureComponent2D->CaptureScene();
519
520 // Inform FrameGrabber to capture this frame
521 if (FrameGrabber.IsValid() && !UseReadPixels)
522 {
523 FrameGrabber->CaptureThisFrame(FFramePayloadPtr());
524 }
525 }
526}
void UpdateCameraStabilization()
Definition: Camera.cpp:528
bool ShouldSimulate(const float DeltaSeconds)
Definition: Camera.cpp:559

References CaptureComponent2D, FrameGrabber, PreActorTick(), ShouldSimulate(), UpdateCameraStabilization(), and UseReadPixels.

Referenced by BeginPlay(), and PreActorTick().

◆ ReadPixelsCapture()

void ACamera::ReadPixelsCapture ( )
private

Definition at line 626 of file Camera.cpp.

627{
628 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::ReadPixelsCapture);
629
631 {
632 return;
633 }
634
636 {
637 return;
638 }
639
640 TArray<FColor> ImageBuffer;
641 ImageBuffer.Reserve(ImageWidth * ImageHeight);
642 FReadSurfaceDataFlags Flags(RCM_UNorm);
643 Flags.SetLinearToGamma(false); // IMPORTANT to get instance segmentation ID's correctly
644 auto* Resource = CaptureRenderTarget->GameThread_GetRenderTargetResource();
645 const bool succeeded = Resource->ReadPixels(ImageBuffer, Flags);
646
648 {
650 {
653 }
654
655 AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [this, ImageBuffer]()
656 {
658 });
659 }
660
662}

References CameraParameters, CaptureRenderTarget, CreateLogFile(), ImageHeight, ImageWidth, ReadPixelsCapture(), SaveCurrentFrameToDiskRequested, SaveImageToDisk(), FCameraBaseParameters::SaveImageToDisk, ASensor::SendDataToROS, SendImageDataToROS(), and ShouldSimulateCamera.

Referenced by PixelReadEndOfFrame(), and ReadPixelsCapture().

◆ ReleaseFrameGrabber()

void ACamera::ReleaseFrameGrabber ( )
private

Release FrameGrabber and destroy UTexture2D

Definition at line 743 of file Camera.cpp.

744{
745 if (FrameGrabber.IsValid())
746 {
747 FrameGrabber->StopCapturingFrames();
748 FrameGrabber->Shutdown();
749 FrameGrabber.Reset();
750 }
751
753 {
754 CaptureFrameTexture->RemoveFromRoot();
755 CaptureFrameTexture->ConditionalBeginDestroy();
756 CaptureFrameTexture = nullptr;
757 }
758}
UTexture2D * CaptureFrameTexture
Definition: Camera.h:299

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 921 of file Camera.cpp.

922{
923 if (UnrealWindow.IsValid() && WidgetToRemove)
924 {
925 UnrealWindow->RemoveUWidgetFromWindow(WidgetToRemove);
926 }
927}

References UnrealWindow.

◆ ResizeCamera()

void ACamera::ResizeCamera ( int32  Width = 1280,
int32  Height = 720 
)

Resize camera and custom Unreal Window certain size

Definition at line 949 of file Camera.cpp.

950{
951 if (Width == 0 || Height == 0)
952 {
953 return;
954 }
955
956 CameraParameters.Width = Width;
957 CameraParameters.Height = Height;
959}
void ChangeCameraParameters(FCameraBaseParameters newParameters)
Definition: Camera.cpp:56

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

◆ SaveCameraMetaDataToDisk()

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

Definition at line 865 of file Camera.cpp.

866{
867 if (!IsValid(LogFile))
868 {
869 // If the log file located in base class is not valid, return here.
870 return;
871 }
872
873 const FVector ActorPosition = GetActorLocation();
874 const FRotator ActorRotation = GetActorRotation();
875
876 const FString TimeStamp = CreateTimeStampString();
877 FString MetaData;
878
880 {
881 FGeographicCoordinates GeoCoordinates = UCoordinateConversionUtilities::UnrealToGeographicCoordinates(GeoReferencingSystem, ActorPosition);
882 MetaData = FString::Printf(TEXT("%s, %s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.8f, %.8f, %.8f"),
883 *TimeStamp, *ImageName,
884 ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
885 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll,
886 GeoCoordinates.Latitude, GeoCoordinates.Longitude, GeoCoordinates.Altitude);
887 }
888 else
889 {
890 MetaData = FString::Printf(TEXT("%s, %s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f"),
891 *TimeStamp, *ImageName,
892 ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
893 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll);
894 }
895
896 // Write to the log file (this is written after sensor is destroyed)
897 WriteToLogFile(MetaData);
898}
FString CreateTimeStampString() const
Definition: Sensor.cpp:330
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 824 of file Camera.cpp.

825{
826 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SaveImageToDisk);
827
828 if (FrameBuffer.IsEmpty() || Width == 0 || Height == 0)
829 {
830 return;
831 }
832
833 int32 Size = Width * Height;
834 if (FrameBuffer.Num() != Size)
835 {
836 const FString Msg = "Camera sensor: Unable to save Image to disk. FrameBuffer size and resolution don't match!";
838 return;
839 }
840
841 const FString ImageName = FString::Printf(TEXT("image_%d.png"), ImageNumber);
842 const FString FullFileName = FString::Printf(TEXT("%s%s"), *FileSavePath, *ImageName);
843 ++ImageNumber;
844
845 SaveCameraMetaDataToDisk(ImageName);
846
847 FIntPoint DestSize(Width, Height);
848 TImagePixelData<FColor> PixelData(DestSize);
849 PixelData.Pixels = FrameBuffer;
850
851 // Create ImageTask
852 TUniquePtr<FImageWriteTask> ImageTask = MakeUnique<FImageWriteTask>();
853 ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(PixelData);
854 ImageTask->Filename = FullFileName;
855 ImageTask->Format = EImageFormat::PNG;
856 ImageTask->CompressionQuality = (int32)EImageCompressionQuality::Default;
857 ImageTask->bOverwriteFile = true;
858 ImageTask->PixelPreProcessors.Add(TAsyncAlphaWrite<FColor>(255));
859
860 // Get Screenshot config and enqueue image save task
861 FHighResScreenshotConfig& HighResScreenshotConfig = GetHighResScreenshotConfig();
862 TFuture<bool> CompletionFuture = HighResScreenshotConfig.ImageWriteQueue->Enqueue(MoveTemp(ImageTask));
863}
int32 ImageNumber
Definition: Camera.h:390
void SaveCameraMetaDataToDisk(const FString &ImageName)
Definition: Camera.cpp:865

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

Referenced by FrameGrabberCapture(), ReadPixelsCapture(), 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 760 of file Camera.cpp.

761{
762 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SendImageDataToROS);
763
764 UTopic* Topic = GetROSTopic();
765 if (!SendDataToROS
766 || !Topic
767 || !IsROSConnected()
768 || FrameBuffer.IsEmpty()
769 || !ImageMsg.IsValid())
770 {
771 return;
772 }
773
774 // Cast TArray<FColor> into uint8[] data with all channels (RBGA)
775 // If you want to send RGBA data, uncomment the following lines
776 // and comment the BGR8Buffer conversion below
777 //ImageMsg->encoding = "bgra8";
778 //ImageMsg->step = Width * 4;
779 //ImageMsg->data = const_cast<uint8*>(reinterpret_cast<const uint8*>(FrameBuffer.GetData()));
780
781 // Convert TArray<FColor> to uint8[] data without alpha channel
782 // By removing alpha channel, we reduce ~25% of ROS bandwidth,
783 // but costs a bit more in processing time here
784 const int32 BufferSize = Width * Height * 3;
785 if (!BGR8Buffer || CurrentBufferSize != BufferSize)
786 {
787 // Resize buffer if needed
788 delete[] BGR8Buffer;
789 BGR8Buffer = new uint8[BufferSize];
790 CurrentBufferSize = BufferSize;
791 }
792
793 const FColor* RESTRICT Source = FrameBuffer.GetData();
794 uint8* RESTRICT Dest = BGR8Buffer;
795 const int32 PixelCount = FrameBuffer.Num();
796 const int32 ChunkSize = 512;
797 const int32 NumChunks = (PixelCount + ChunkSize - 1) / ChunkSize;
798
799 ParallelFor(NumChunks, [Source, Dest, ChunkSize, PixelCount](int32 ChunkIndex)
800 {
801 const int32 StartIndex = ChunkIndex * ChunkSize;
802 const int32 EndIndex = FMath::Min(StartIndex + ChunkSize, PixelCount);
803
804 for (int32 i = StartIndex; i < EndIndex; ++i)
805 {
806 const FColor& Pixel = Source[i];
807 const int32 j = i * 3;
808 Dest[j + 0] = Pixel.B;
809 Dest[j + 1] = Pixel.G;
810 Dest[j + 2] = Pixel.R;
811 }
812 }, false);
813
814 ImageMsg->data = BGR8Buffer;
815 ImageMsg->step = Width * 3;
816
817 ImageMsg->height = Height;
818 ImageMsg->width = Width;
819 ImageMsg->header.time = FROSTime::Now();
820
821 Topic->Publish(ImageMsg);
822}
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(), ReadPixelsCapture(), and SendImageDataToROS().

◆ SetShadowRendering()

void ACamera::SetShadowRendering ( bool  RenderShadows)

Set should this camera USceneCaptureComponent2D render shadows

Definition at line 929 of file Camera.cpp.

930{
932 {
933 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
934 CameraShowFlags.SetDynamicShadows(RenderShadows);
935 CameraShowFlags.SetContactShadows(RenderShadows);
936 CameraShowFlags.SetCapsuleShadows(RenderShadows);
937 }
938}

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 940 of file Camera.cpp.

941{
943 {
944 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
945 CameraShowFlags.SetTemporalAA(SetTemporal);
946 }
947}

References CaptureComponent2D.

Referenced by AInstanceSegmentationCamera::Init(), ASemanticSegmentationCamera::Init(), and 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 bool ForceLinearGamma = !CameraParameters.PostProcessingEffects;
225
226 ESensorTypes SensorType = GetSensorType();
227 EPixelFormat PixelFormat = Enable16BitFormat ? PF_FloatRGB : PF_B8G8R8A8;
228
230 {
231 PixelFormat = PF_B8G8R8A8;
232 ForceLinearGamma = true;
233 }
234
235 CaptureRenderTarget->InitCustomFormat(ImageWidth, ImageHeight, PixelFormat, ForceLinearGamma);
236 //CaptureRenderTarget->InitCustomFormat(ImageWidth, ImageHeight, PF_B8G8R8A8, true);
237 CaptureRenderTarget->TargetGamma = TargetGamma;
238 CaptureRenderTarget->UpdateResourceImmediate(true);
239
240 // Set PostProcessSettings override (on or off)
241 PostProcessSettings.bOverride_AutoExposureMethod = UsePostProcessingEffects;
242 PostProcessSettings.bOverride_AutoExposureBias = UsePostProcessingEffects;
243 PostProcessSettings.bOverride_AutoExposureMinBrightness = UsePostProcessingEffects;
244 PostProcessSettings.bOverride_AutoExposureMaxBrightness = UsePostProcessingEffects;
245 PostProcessSettings.bOverride_AutoExposureSpeedUp = UsePostProcessingEffects;
246 PostProcessSettings.bOverride_AutoExposureSpeedDown = UsePostProcessingEffects;
247 PostProcessSettings.bOverride_HistogramLogMin = UsePostProcessingEffects;
248 PostProcessSettings.bOverride_HistogramLogMax = UsePostProcessingEffects;
249 PostProcessSettings.bOverride_CameraShutterSpeed = UsePostProcessingEffects;
250 PostProcessSettings.bOverride_CameraISO = UsePostProcessingEffects;
251 PostProcessSettings.bOverride_DepthOfFieldFstop = UsePostProcessingEffects;
252 PostProcessSettings.bOverride_DepthOfFieldMinFstop = UsePostProcessingEffects;
253 PostProcessSettings.bOverride_DepthOfFieldBladeCount = UsePostProcessingEffects;
254 PostProcessSettings.bOverride_FilmSlope = UsePostProcessingEffects;
255 PostProcessSettings.bOverride_FilmToe = UsePostProcessingEffects;
256 PostProcessSettings.bOverride_FilmShoulder = UsePostProcessingEffects;
257 PostProcessSettings.bOverride_FilmWhiteClip = UsePostProcessingEffects;
258 PostProcessSettings.bOverride_FilmBlackClip = UsePostProcessingEffects;
259 PostProcessSettings.bOverride_MotionBlurAmount = UsePostProcessingEffects;
260 PostProcessSettings.bOverride_MotionBlurMax = UsePostProcessingEffects;
261 PostProcessSettings.bOverride_MotionBlurPerObjectSize = UsePostProcessingEffects;
262 PostProcessSettings.bOverride_WhiteTemp = UsePostProcessingEffects;
263 PostProcessSettings.bOverride_WhiteTint = UsePostProcessingEffects;
264 PostProcessSettings.bOverride_ColorContrast = UsePostProcessingEffects;
265 PostProcessSettings.bOverride_SceneFringeIntensity = UsePostProcessingEffects;
266 PostProcessSettings.bOverride_ChromaticAberrationStartOffset = UsePostProcessingEffects;
267 PostProcessSettings.bOverride_AmbientOcclusionIntensity = UsePostProcessingEffects;
268 PostProcessSettings.bOverride_AmbientOcclusionRadius = UsePostProcessingEffects;
269 PostProcessSettings.bOverride_AmbientOcclusionStaticFraction = UsePostProcessingEffects;
270 PostProcessSettings.bOverride_AmbientOcclusionFadeDistance = UsePostProcessingEffects;
271 PostProcessSettings.bOverride_AmbientOcclusionPower = UsePostProcessingEffects;
272 PostProcessSettings.bOverride_AmbientOcclusionBias = UsePostProcessingEffects;
273 PostProcessSettings.bOverride_AmbientOcclusionQuality = UsePostProcessingEffects;
274 PostProcessSettings.bOverride_BloomMethod = UsePostProcessingEffects;
275 PostProcessSettings.bOverride_BloomIntensity = UsePostProcessingEffects;
276 PostProcessSettings.bOverride_BloomThreshold = UsePostProcessingEffects;
277 PostProcessSettings.bOverride_LensFlareIntensity = UsePostProcessingEffects;
278 PostProcessSettings.bOverride_DepthOfFieldFocalDistance = UsePostProcessingEffects;
279 PostProcessSettings.bOverride_DepthOfFieldDepthBlurAmount = UsePostProcessingEffects;
280 PostProcessSettings.bOverride_DepthOfFieldDepthBlurRadius = UsePostProcessingEffects;
281
282 // Set PostProcessSettings values
283 PostProcessSettings.CameraShutterSpeed = CameraParameters.ShutterSpeed;
284 PostProcessSettings.CameraISO = CameraParameters.ISO;
285 PostProcessSettings.DepthOfFieldFstop = CameraParameters.Aperture;
286 PostProcessSettings.DepthOfFieldFocalDistance = CameraParameters.FocalDistance;
287 PostProcessSettings.DepthOfFieldDepthBlurAmount = CameraParameters.DepthBlurAmount;
288 PostProcessSettings.DepthOfFieldDepthBlurRadius = CameraParameters.DepthBlurRadius;
289 PostProcessSettings.DepthOfFieldMinFstop = CameraParameters.DofMinFStop;
290 PostProcessSettings.DepthOfFieldBladeCount = CameraParameters.DofBladeCount;
291 PostProcessSettings.FilmSlope = CameraParameters.FilmSlope;
292 PostProcessSettings.FilmToe = CameraParameters.FilmToe;
293 PostProcessSettings.FilmShoulder = CameraParameters.FilmShoulder;
294 PostProcessSettings.FilmBlackClip = CameraParameters.FilmBlackClip;
295 PostProcessSettings.FilmWhiteClip = CameraParameters.FilmWhiteClip;
296 PostProcessSettings.AutoExposureMinBrightness = CameraParameters.ExposureMinBrightness;
297 PostProcessSettings.AutoExposureMaxBrightness = CameraParameters.ExposureMaxBrightness;
298 PostProcessSettings.AutoExposureSpeedUp = CameraParameters.ExposureSpeedUp;
299 PostProcessSettings.AutoExposureSpeedDown = CameraParameters.ExposureSpeedDown;
300 PostProcessSettings.MotionBlurAmount = CameraParameters.MotionBlurIntensity;
301 PostProcessSettings.MotionBlurMax = CameraParameters.MotionBlurMax;
302 PostProcessSettings.MotionBlurPerObjectSize = CameraParameters.MotionBlurMinObjSize;
303 PostProcessSettings.LensFlareIntensity = CameraParameters.LensFlareIntensity;
304 PostProcessSettings.BloomIntensity = CameraParameters.BloomIntensity;
305 PostProcessSettings.WhiteTemp = CameraParameters.WhiteTemp;
306 PostProcessSettings.WhiteTint = CameraParameters.WhiteTint;
307 PostProcessSettings.SceneFringeIntensity = CameraParameters.ChromAberrIntensity;
308 PostProcessSettings.ChromaticAberrationStartOffset = CameraParameters.ChromAberrOffset;
309
312
314 {
316 }
317 else
318 {
319 CaptureComponent2D->MaxViewDistanceOverride = -1.0f; // Infinite
320 }
321
323 {
324 // Enable HDR on CaptureSource, only allowed for RGB Camera for now.
325 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalToneCurveHDR;
326 }
327 else
328 {
329 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
330 }
331
332 CaptureComponent2D->bUseRayTracingIfEnabled = true;
333 CaptureComponent2D->UpdateContent();
334 CaptureComponent2D->Activate();
335
337
338 const FString Encoding = "bgr8";
339
340 // Create ROS Image message
341 ImageMsg.Reset();
342 ImageMsg = MakeShared<ROSMessages::sensor_msgs::Image>();
343 ImageMsg->header.frame_id = "world";
344 ImageMsg->height = ImageWidth;
345 ImageMsg->width = ImageHeight;
346 ImageMsg->encoding = Encoding;
347 ImageMsg->is_bigendian = 0;
348 ImageMsg->step = ImageWidth * 4;
349
351
352 if (!UnrealWindow.IsValid())
353 {
354 // Create and setup UnrealWindow
355 const FString WindowName = GetSensorIdentifier() + " Window";
357
358 // Set on Window closed event
360 UnrealWindow->GetSWindow()->SetOnWindowClosed(OnWindowClosedDelegate);
361
362 // try to create Camera parameter Widget from path
363 FSoftClassPath WidgetClassPath(TEXT("/Game/Agrarsense/Widgets/Camera/WBP_CameraControlsMenu.WBP_CameraControlsMenu_C"));
364 UClass* WidgetClass = WidgetClassPath.TryLoadClass<UUserWidget>();
365
366 APlayerController* PlayerController = UGameplayStatics::GetPlayerController(GetWorld(), 0);
367
368 if (WidgetClass && PlayerController)
369 {
370 UCameraWidgetBase* WidgetInstance = CreateWidget<UCameraWidgetBase>(PlayerController, WidgetClass);
371 if (WidgetInstance)
372 {
373 bool ShowGuide = false;
374 WidgetInstance->Setup(this, ShowGuide);
375 this->AddWidgetToWindow(WidgetInstance);
376 }
377 }
378 }
379
380 bool Resized = false;
381 if (UnrealWindow.IsValid())
382 {
383 UnrealWindow->SetupComponent(CaptureRenderTarget);
384 if (UnrealWindow->GetWindowWidth() != ImageWidth || UnrealWindow->GetWindowHeight() != ImageHeight)
385 {
386 UnrealWindow->ResizeWindow(ImageWidth, ImageHeight);
387 Resized = true;
388 }
389 }
390
392
393 if (Resized)
394 {
396 }
397
399 {
401 }
402}
ESensorTypes
Definition: SensorTypes.h:15
@ InstanceSegmentationCamera
virtual ESensorTypes GetSensorType() const override
Definition: Camera.h:74
void OnWindowClosed(const TSharedRef< SWindow > &Window)
Definition: Camera.cpp:900
void StartFrameGrabber()
Definition: Camera.cpp:712
void AddWidgetToWindow(UWidget *WidgetToAdd)
Definition: Camera.cpp:913
void SetTemporalAA(bool SetTemporal)
Definition: Camera.cpp:940
TWeakObjectPtr< UMaterial > PhysicLensDistortion
Definition: Camera.h:307
FCameraDelegate_OnWindowResized OnCameraWindowResized
Definition: Camera.h:148
float CameraFrameRate
Definition: Camera.h:387
FString GetSensorIdentifier() const
Definition: Sensor.h:75
virtual void CreateROSTopic()
Definition: Sensor.cpp:197
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, InstanceSegmentationCamera, 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 559 of file Camera.cpp.

560{
561 if (!CanSimulateSensor())
562 {
563 ShouldSimulateCamera = false;
565 }
566
568 {
571 }
572
573 FrameRateTimer += DeltaSeconds;
575 {
576 FrameRateTimer = 0.0f;
579 }
580
581 ShouldSimulateCamera = false;
582
584}
float FrameRateTimer
Definition: Camera.h:388
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 712 of file Camera.cpp.

713{
714 if (!UnrealWindow.IsValid())
715 {
716#if WITH_EDITOR
717 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: UnrealWindow is nullptr!"));
718#endif
719 return;
720 }
721
722 // Destroy old FrameGrabber
724
725 TSharedPtr<FSceneViewport> SceneViewport = UnrealWindow->GetSceneViewport();
726 if (SceneViewport.IsValid() && CaptureRenderTarget)
727 {
728 EPixelFormat PixelFormat = GetPixelFormatFromRenderTargetFormat(TextureFormat);
729 FIntPoint Size = SceneViewport->GetSize();
730
732 {
733 // Currently only DVS camera needs this texture to render DVS output into separate FUnrealWindow.
734 CaptureFrameTexture = UTexture2D::CreateTransient(Size.X, Size.Y, PixelFormat);
735 CaptureFrameTexture->UpdateResource();
736 }
737
738 FrameGrabber = MakeShareable(new FFrameGrabber(SceneViewport.ToSharedRef(), Size, PixelFormat));
739 FrameGrabber->StartCapturingFrames();
740 }
741}
TEnumAsByte< ETextureRenderTargetFormat > TextureFormat
Definition: Camera.h:134

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

Referenced by SetupCamera().

◆ UpdateCameraStabilization()

void ACamera::UpdateCameraStabilization ( )
protected

Definition at line 528 of file Camera.cpp.

529{
530 // If this Camera sensor is attached to Drone,
531 // keep the camera steady kind of like a Gimbal.
533 {
534 if (SensorSetRotation == FRotator::ZeroRotator)
535 {
536 // Save garage sensor values
537 SensorSetRotation = GetTransform().Rotator();
538 }
539 FRotator GimbalRot = FRotator(SensorSetRotation.Pitch, GetActorRotation().Yaw, SensorSetRotation.Roll);
540 SetActorRotation(GimbalRot);
541 }
542}
FRotator SensorSetRotation
Definition: Camera.h:315
bool IsVehicleInGarage() const
Definition: Vehicle.h:133

References AllowGimbal, DronePtr, AVehicle::IsVehicleInGarage(), and SensorSetRotation.

Referenced by PreActorTick().

Member Data Documentation

◆ AllowGimbal

bool ACamera::AllowGimbal = true
protected

Definition at line 316 of file Camera.h.

Referenced by BeginPlay(), and UpdateCameraStabilization().

◆ BGR8Buffer

uint8* ACamera::BGR8Buffer = nullptr
private

Definition at line 392 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ CameraFrameRate

float ACamera::CameraFrameRate = 0.0f
private

Definition at line 387 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 284 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 365 of file Camera.h.

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

◆ CaptureComponent2D

USceneCaptureComponent2D* ACamera::CaptureComponent2D = nullptr
protected

◆ CaptureFrameTexture

UTexture2D* ACamera::CaptureFrameTexture
protected

public UTexture2D variable pointer BlueprintReadOnly.

Definition at line 299 of file Camera.h.

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

◆ CaptureRenderTarget

UTextureRenderTarget2D* ACamera::CaptureRenderTarget = nullptr
protected

Definition at line 289 of file Camera.h.

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

◆ CurrentBufferSize

int32 ACamera::CurrentBufferSize = 0
private

Definition at line 394 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ DronePtr

APIDDrone* ACamera::DronePtr = nullptr
protected

Definition at line 314 of file Camera.h.

Referenced by BeginPlay(), and UpdateCameraStabilization().

◆ FilePrefix

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

◆ FrameGrabber

TSharedPtr<FFrameGrabber> ACamera::FrameGrabber
private

FrameGrabber TSharedPtr

Definition at line 349 of file Camera.h.

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

◆ FrameRateTimer

float ACamera::FrameRateTimer = 0.0f
private

Definition at line 388 of file Camera.h.

Referenced by ShouldSimulate().

◆ GeoReferencingSystem

AGeoReferencingSystem* ACamera::GeoReferencingSystem = nullptr
private

Definition at line 374 of file Camera.h.

Referenced by CreateLogFile(), and SaveCameraMetaDataToDisk().

◆ IceMaterialInstance

TWeakObjectPtr<UMaterialInstanceDynamic> ACamera::IceMaterialInstance
protected

Definition at line 305 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ImageHeight

int32 ACamera::ImageHeight = 720
private

Definition at line 381 of file Camera.h.

Referenced by FrameGrabberCapture(), ReadPixelsCapture(), and SetupCamera().

◆ ImageMsg

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

Definition at line 309 of file Camera.h.

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

◆ ImageNumber

int32 ACamera::ImageNumber = 0
private

Definition at line 390 of file Camera.h.

Referenced by SaveImageToDisk().

◆ ImageWidth

int32 ACamera::ImageWidth = 1280
private

Definition at line 380 of file Camera.h.

Referenced by FrameGrabberCapture(), ReadPixelsCapture(), 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 242 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 378 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ParametersChanged

bool ACamera::ParametersChanged = false
private

Definition at line 376 of file Camera.h.

◆ PhysicLensDistortion

TWeakObjectPtr<UMaterial> ACamera::PhysicLensDistortion
protected

Definition at line 307 of file Camera.h.

Referenced by SetupCamera().

◆ SaveCurrentFrameToDiskRequested

bool ACamera::SaveCurrentFrameToDiskRequested = false
private

Definition at line 383 of file Camera.h.

Referenced by FrameGrabberCapture(), and ReadPixelsCapture().

◆ SensorSetRotation

FRotator ACamera::SensorSetRotation
protected

Definition at line 315 of file Camera.h.

Referenced by UpdateCameraStabilization().

◆ ShouldSimulateCamera

bool ACamera::ShouldSimulateCamera = true
private

Definition at line 385 of file Camera.h.

Referenced by FrameGrabberCapture(), ReadPixelsCapture(), and ShouldSimulate().

◆ TempParams

FCameraBaseParameters ACamera::TempParams
private

Definition at line 371 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 303 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ UnrealWindow

TSharedPtr<FUnrealWindow> ACamera::UnrealWindow
protected

◆ UseParallelLateTick

bool ACamera::UseParallelLateTick = true
protected

◆ UseReadPixels

bool ACamera::UseReadPixels = false
protected

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