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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 SetTemporalAA (bool SetTemporal)
 
void ResizeCamera (int Width=1280, int Height=720)
 
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
 
void SetSensorName (const FString newName)
 
virtual 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
 
- 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
 
virtual void PreActorTick (UWorld *World, ELevelTick TickType, float DeltaSeconds)
 
virtual void EndOfFrame (UWorld *World, ELevelTick TickType, float DeltaSeconds)
 
virtual void EndOfFrameParellel (float DeltaTime)
 
virtual void AddProcessingToFrameBuffer (TArray< FColor > &buffer)
 
virtual 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
 
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
 
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
 
int ImageWidth = 1280
 
int ImageHeight = 720
 
bool SaveCurrentFrameToDiskRequested = false
 
bool ShouldSimulateCamera = true
 
float CameraFrameRate = 0.0f
 
float FrameRateTimer = 0.0f
 
int 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->bAutoGenerateMips = false;
42 CaptureRenderTarget->bGPUSharedFlag = true;
43 CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
44 CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
45
46 CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(FName(*FString::Printf(TEXT("SceneCaptureComponent2D"))));
47 CaptureComponent2D->SetupAttachment(RootComponent);
48 CaptureComponent2D->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_RenderScenePrimitives;
49 CaptureComponent2D->bCaptureOnMovement = false;
50 CaptureComponent2D->bCaptureEveryFrame = false;
51 CaptureComponent2D->bAlwaysPersistRenderingState = true;
52}
USceneCaptureComponent2D * CaptureComponent2D
Definition: Camera.h:277
UTextureRenderTarget2D * CaptureRenderTarget
Definition: Camera.h:274

References CaptureComponent2D, and CaptureRenderTarget.

Member Function Documentation

◆ 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 59 of file Camera.cpp.

60{
61 UMaterial* PostProcessingMat = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
62 if (PostProcessingMat && CaptureComponent2D)
63 {
64 FPostProcessSettings& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
65 PostProcessSettings.AddBlendable(PostProcessingMat, Weight);
66 }
67 else
68 {
69 FString Sensor = GetSensorName();
70 FString Msg = "Failed to add Post processing material to " + Sensor;
72 }
73}
FString GetSensorName() const
Definition: Sensor.h:95
static void Log(const FString &Message, bool LogToTextFile=true, bool LogToROS=true)

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

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

◆ AddProcessingToFrameBuffer()

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

Reimplemented in ADVSCamera.

Definition at line 576 of file Camera.cpp.

577{
578 // Only DVSCamera adds processing to the frame buffer
579 return;
580}

Referenced by FrameGrabberCapture().

◆ AddWidgetToWindow()

void ACamera::AddWidgetToWindow ( UWidget *  WidgetToAdd)

Add Widget to custom Unreal Window

Definition at line 777 of file Camera.cpp.

778{
779 if (UnrealWindow.IsValid() && WidgetToAdd)
780 {
781 UnrealWindow->AddUWidgetToWindow(WidgetToAdd);
782 }
783}
TSharedPtr< FUnrealWindow > UnrealWindow
Definition: Camera.h:286

References UnrealWindow.

Referenced by SetupCamera().

◆ BeginPlay()

void ACamera::BeginPlay ( )
overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 379 of file Camera.cpp.

380{
381 Super::BeginPlay();
382
383 // Register to PreActorTick where USceneCaptureComponent2D will get rendered.
384 OnPreTickDelegate = FWorldDelegates::OnWorldPreActorTick.AddUObject(this, &ACamera::PreActorTick);
385
386 // Check if we should use ATickManager which ticks in parallel, or use Post actor tick
387 // In there we capture the screen pixels with FrameGrabber API,
388 // might do some extra processing, save image to disk and send data to ROS.
390 {
391 SetActorTickEnabled(false);
392 TickEntry = ATickManager::AddTick(this, BindTick(this, &ACamera::EndOfFrameParellel), ETickType::LateTickParallel);
393 }
394 else
395 {
396 SetActorTickEnabled(true);
397 OnPostTickDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ACamera::EndOfFrame);
398 }
399
400 // Get all existing components set to be hidden for all Camera sensors (like Lidar point cloud visualization).
401 auto Components = ASensor::GetComponentsToHide();
402 for (int32 i = 0; i < Components.Num(); i++)
403 {
404 UPrimitiveComponent* Primitive = Components[i].Get();
405 if (Primitive)
406 {
407 HidePrimitiveComponent(Primitive);
408 }
409 }
410
411 OnPrimitiveAdded.AddUniqueDynamic(this, &ACamera::HidePrimitiveComponent);
412
413 GetWorld()->GetTimerManager().SetTimerForNextTick([this]()
414 {
415 if (IsValid(this))
416 {
417 DronePtr = Cast<APIDDrone>(GetAttachParentActor());
418 if (!DronePtr)
419 {
420 AllowGimbal = false;
421 }
422 }
423 });
424}
static auto BindTick(ObjectType *Object, FunctionType Function)
Definition: TickManager.h:182
bool UseParallelLateTick
Definition: Camera.h:227
FTickEntry TickEntry
Definition: Camera.h:288
APIDDrone * DronePtr
Definition: Camera.h:295
FDelegateHandle OnPostTickDelegate
Definition: Camera.h:232
FDelegateHandle OnPreTickDelegate
Definition: Camera.h:229
void HidePrimitiveComponent(UPrimitiveComponent *PrimitiveComponent)
Definition: Camera.cpp:582
virtual void EndOfFrameParellel(float DeltaTime)
Definition: Camera.cpp:509
virtual void EndOfFrame(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:504
virtual void PreActorTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
Definition: Camera.cpp:474
bool AllowGimbal
Definition: Camera.h:297
static FPrimitiveAdded OnPrimitiveAdded
Definition: Sensor.h:354
static TArray< TWeakObjectPtr< UPrimitiveComponent > > GetComponentsToHide()
Definition: Sensor.h:256
static FTickEntry AddTick(UObject *Object, std::function< void(float)> Function, ETickType Type)
Definition: TickManager.cpp:55

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 54 of file Camera.cpp.

55{
56 SetupCamera(newParameters);
57}
void SetupCamera(FCameraBaseParameters parameters)
Definition: Camera.cpp:128

References SetupCamera().

Referenced by ADepthCamera::ChangeDepthCameraParameters(), ADVSCamera::ChangeParametersInternal(), AThermalCamera::ChangeThermalCameraParameters(), ResizeCamera(), and APhotoCapture::SetupPhotoCapture().

◆ 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("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("image_name, X location, Y location, Z location, yaw rotation, pitch rotation, roll rotation");
124 }
125 }
126}
AGeoReferencingSystem * GeoReferencingSystem
Definition: Camera.h:350
ULogFile * LogFile
Definition: Sensor.h:347
FString FileSavePath
Definition: Sensor.h:349
void WriteToLogFile(const FString &Message)
Definition: Sensor.cpp:269
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 Init().

◆ EndOfFrame()

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

Definition at line 504 of file Camera.cpp.

505{
507}
void FrameGrabberCapture()
Definition: Camera.cpp:541

References FrameGrabberCapture().

Referenced by BeginPlay().

◆ EndOfFrameParellel()

void ACamera::EndOfFrameParellel ( float  DeltaTime)
protectedvirtual

Definition at line 509 of file Camera.cpp.

510{
512}

References FrameGrabberCapture().

Referenced by BeginPlay().

◆ EndPlay()

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

Reimplemented from ASensor.

Reimplemented in ADepthCamera, ADVSCamera, and AThermalCamera.

Definition at line 426 of file Camera.cpp.

427{
428 Super::EndPlay(EndPlayReason);
429
430 FWorldDelegates::OnWorldPreActorTick.Remove(OnPreTickDelegate);
431
433 {
435 }
436 else
437 {
438 FWorldDelegates::OnWorldPostActorTick.Remove(OnPostTickDelegate);
439 }
440
441 if (UnrealWindow.IsValid())
442 {
443 OnWindowClosedDelegate.Unbind();
444 UnrealWindow->DestroyWindow();
445 UnrealWindow.Reset();
446 }
447
449
451 {
452 CaptureRenderTarget->ConditionalBeginDestroy();
453 CaptureRenderTarget = nullptr;
454 }
455
457 {
458 CaptureComponent2D->UnregisterComponent();
459 CaptureComponent2D->ConditionalBeginDestroy();
460 CaptureComponent2D = nullptr;
461 }
462
463 ImageMsg.Reset();
464 IceMaterialInstance.Reset();
465
466 if (BGR8Buffer)
467 {
468 delete[] BGR8Buffer;
469 BGR8Buffer = nullptr;
470 }
472}
FOnWindowClosed OnWindowClosedDelegate
Definition: Camera.h:354
TSharedPtr< ROSMessages::sensor_msgs::Image > ImageMsg
Definition: Camera.h:356
int32 CurrentBufferSize
Definition: Camera.h:372
void ReleaseFrameGrabber()
Definition: Camera.cpp:621
uint8 * BGR8Buffer
Definition: Camera.h:370
TWeakObjectPtr< UMaterialInstanceDynamic > IceMaterialInstance
Definition: Camera.h:290
static void RemoveTick(FTickEntry TickEntry)
Definition: TickManager.cpp:90

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 541 of file Camera.cpp.

542{
543 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::FrameGrabberCapture);
544
545 if (!ShouldSimulateCamera || !FrameGrabber.IsValid())
546 {
547 return;
548 }
549
551 {
552 return;
553 }
554
555 TArray<FCapturedFrameData> Frames = FrameGrabber->GetCapturedFrames();
556 if (Frames.Num())
557 {
558 FCapturedFrameData& LastFrame = Frames.Last();
559 TArray<FColor>& ImageBuffer = LastFrame.ColorBuffer;
560
561 AddProcessingToFrameBuffer(ImageBuffer);
562
564 {
566 AsyncTask(ENamedThreads::AnyBackgroundThreadNormalTask, [this, ImageBuffer]()
567 {
569 });
570 }
571
573 }
574}
TSharedPtr< FFrameGrabber > FrameGrabber
Definition: Camera.h:325
FCameraBaseParameters CameraParameters
Definition: Camera.h:341
int ImageWidth
Definition: Camera.h:358
void SaveImageToDisk(const TArray< FColor > FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:693
bool ShouldSimulateCamera
Definition: Camera.h:363
virtual void SendImageDataToROS(const TArray< FColor > &FrameBuffer, int32 Width, int32 Height)
Definition: Camera.cpp:638
int ImageHeight
Definition: Camera.h:359
bool SaveCurrentFrameToDiskRequested
Definition: Camera.h:361
virtual void AddProcessingToFrameBuffer(TArray< FColor > &buffer)
Definition: Camera.cpp:576
bool SendDataToROS
Definition: Sensor.h:344

References AddProcessingToFrameBuffer(), CameraParameters, 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 199 of file Camera.h.

200 {
201 return ImageHeight;
202 }

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 APhotoCapture::SetupPhotoCapture().

◆ GetCameraWidth()

int ACamera::GetCameraWidth ( ) const
inline

Definition at line 193 of file Camera.h.

194 {
195 return ImageWidth;
196 }

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 213 of file Camera.h.

214 {
216 }
static FString StructToString(const InStructType &InStruct)
Definition: Sensor.h:305

◆ GetSensorType()

virtual ESensorTypes ACamera::GetSensorType ( ) const
inlineoverridevirtual

Get type of the sensor

Returns
Sensor's type

Reimplemented from ASensor.

Reimplemented in ADepthCamera, ADVSCamera, 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 582 of file Camera.cpp.

583{
584 if (PrimitiveComponent && CaptureComponent2D)
585 {
586 CaptureComponent2D->HideComponent(PrimitiveComponent);
587 }
588}

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, ASemanticSegmentationCamera, and AThermalCamera.

Definition at line 84 of file Camera.cpp.

85{
87 SetSimulateSensor(SimulateSensor);
88 SetupCamera(parameters);
90}
void CreateLogFile() override
Definition: Camera.cpp:92
virtual void CreateDataSavePath()
Definition: Sensor.cpp:229
void SetSimulateSensor(bool SimulateSensor)
Definition: Sensor.h:151

References ASensor::CreateDataSavePath(), CreateLogFile(), 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 764 of file Camera.cpp.

765{
766#if WITH_EDITOR
767 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: Camera window closed. Destroying Camera sensor.."));
768#endif
769
770 // Broadcast event that this Camera sensor is about be destroyed when user has clicked Window Close button.
771 OnCameraWindowClosed.Broadcast(this);
772
773 // Destroy this camera sensor
774 this->Destroy();
775}
FCameraDelegate_OnWindowClosed OnCameraWindowClosed
Definition: Camera.h:141

References Destroy, and OnCameraWindowClosed.

Referenced by SetupCamera().

◆ PreActorTick()

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

Definition at line 474 of file Camera.cpp.

475{
476 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::PreActorTick);
477
478 // If this Camera sensor is attached to Drone, keep the camera steady kind of like a Gimbal.
480 {
481 if (SensorSetRotation == FRotator::ZeroRotator)
482 {
483 // Save garage sensor values
484 SensorSetRotation = GetTransform().Rotator();
485 }
486 FRotator gimbalRot = FRotator(SensorSetRotation.Pitch, GetActorRotation().Yaw, SensorSetRotation.Roll);
487 SetActorRotation(gimbalRot);
488 }
489
490 if (ShouldSimulate(DeltaSeconds) && CaptureComponent2D)
491 {
492 // Capture scene now.
493 // We could use CaptureSceneDeferred but it would not work if World (Spectator) Rendering is disabled.
494 CaptureComponent2D->CaptureScene();
495
496 // Inform FrameGrabber to capture this frame
497 if (FrameGrabber.IsValid())
498 {
499 FrameGrabber->CaptureThisFrame(FFramePayloadPtr());
500 }
501 }
502}
FRotator SensorSetRotation
Definition: Camera.h:296
bool ShouldSimulate(const float DeltaSeconds)
Definition: Camera.cpp:514
bool IsVehicleInGarage() const
Definition: Vehicle.h:123

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 621 of file Camera.cpp.

622{
623 if (FrameGrabber.IsValid())
624 {
625 FrameGrabber->StopCapturingFrames();
626 FrameGrabber->Shutdown();
627 FrameGrabber.Reset();
628 }
629
631 {
632 CaptureFrameTexture->RemoveFromRoot();
633 CaptureFrameTexture->ConditionalBeginDestroy();
634 CaptureFrameTexture = nullptr;
635 }
636}
UTexture2D * CaptureFrameTexture
Definition: Camera.h:284

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 75 of file Camera.cpp.

76{
78 {
79 FPostProcessSettings& PostProcessSettings = CaptureComponent2D->PostProcessSettings;
80 PostProcessSettings.RemoveBlendable(Material);
81 }
82}

References CaptureComponent2D.

Referenced by ADepthCamera::SetupDepthMaterial().

◆ RemoveWidgetFromWindow()

void ACamera::RemoveWidgetFromWindow ( UWidget *  WidgetToRemove)

Remove Widget from custom Unreal Window

Definition at line 785 of file Camera.cpp.

786{
787 if (UnrealWindow.IsValid() && WidgetToRemove)
788 {
789 UnrealWindow->RemoveUWidgetFromWindow(WidgetToRemove);
790 }
791}

References UnrealWindow.

◆ ResizeCamera()

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

Resize camera and custom Unreal Window certain size

Definition at line 813 of file Camera.cpp.

814{
815 if (Width == 0 || Height == 0)
816 {
817 return;
818 }
819
820 CameraParameters.Width = Width;
821 CameraParameters.Height = Height;
823}
void ChangeCameraParameters(FCameraBaseParameters newParameters)
Definition: Camera.cpp:54

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

◆ SaveCameraMetaDataToDisk()

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

Definition at line 734 of file Camera.cpp.

735{
736 if (!IsValid(LogFile))
737 {
738 // If the log file located in base class is not valid, return here.
739 return;
740 }
741
742 const FVector ActorPosition = GetActorLocation();
743 const FRotator ActorRotation = GetActorRotation();
744
745 FString MetaData;
746
748 {
749 FGeographicCoordinates GeoCoordinates = UCoordinateConversionUtilities::UnrealToGeographicCoordinates(GeoReferencingSystem, ActorPosition);
750 MetaData = FString::Printf(TEXT("%s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %.6f, %.6f, %.2f"), *ImageName, ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
751 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll,
752 GeoCoordinates.Latitude, GeoCoordinates.Longitude, GeoCoordinates.Altitude);
753 }
754 else
755 {
756 MetaData = FString::Printf(TEXT("%s, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f"), *ImageName, ActorPosition.X, ActorPosition.Y, ActorPosition.Z,
757 ActorRotation.Pitch, ActorRotation.Yaw, ActorRotation.Roll);
758 }
759
760 // Write to the log file (this is written after sensor is destroyed)
761 WriteToLogFile(MetaData);
762}
static FGeographicCoordinates UnrealToGeographicCoordinates(AGeoReferencingSystem *GeoReferencingSystem, const FVector &Position)

References 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 184 of file Camera.h.

185 {
187 {
189 }
190 }

Referenced by APhotoCapture::CaptureImages().

◆ 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 693 of file Camera.cpp.

694{
695 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SaveImageToDisk);
696
697 if (FrameBuffer.IsEmpty() || Width == 0 || Height == 0)
698 {
699 return;
700 }
701
702 int32 Size = Width * Height;
703 if (FrameBuffer.Num() != Size)
704 {
705 FString Msg = "Camera sensor: Unable to save Image to disk. FrameBuffer size and resolution don't match!";
707 return;
708 }
709
710 FString ImageName = FString::Printf(TEXT("image_%d.png"), ImageNumber);
711 FString fullFileName = FString::Printf(TEXT("%s%s"), *FileSavePath, *ImageName);
712 ++ImageNumber;
713
714 SaveCameraMetaDataToDisk(ImageName);
715
716 FIntPoint DestSize(Width, Height);
717 TImagePixelData<FColor> PixelData(DestSize);
718 PixelData.Pixels = FrameBuffer;
719
720 // Create ImageTask
721 TUniquePtr<FImageWriteTask> ImageTask = MakeUnique<FImageWriteTask>();
722 ImageTask->PixelData = MakeUnique<TImagePixelData<FColor>>(PixelData);
723 ImageTask->Filename = fullFileName;
724 ImageTask->Format = EImageFormat::PNG;
725 ImageTask->CompressionQuality = (int32)EImageCompressionQuality::Default;
726 ImageTask->bOverwriteFile = true;
727 ImageTask->PixelPreProcessors.Add(TAsyncAlphaWrite<FColor>(255));
728
729 // Get Screenshot config and enqueue image save task
730 FHighResScreenshotConfig& HighResScreenshotConfig = GetHighResScreenshotConfig();
731 TFuture<bool> CompletionFuture = HighResScreenshotConfig.ImageWriteQueue->Enqueue(MoveTemp(ImageTask));
732}
void SaveCameraMetaDataToDisk(const FString &ImageName)
Definition: Camera.cpp:734
int ImageNumber
Definition: Camera.h:368

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 
)
protectedvirtual

Construct ROS Image msg and send data to ROS topic

Parameters
FrameBufferPixel array
widthImage width
heightImage height

Definition at line 638 of file Camera.cpp.

639{
640 TRACE_CPUPROFILER_EVENT_SCOPE(ACamera::SendImageDataToROS);
641
642 UTopic* Topic = GetROSTopic();
643 if (!SendDataToROS
644 || !Topic
645 || !IsROSConnected()
646 || FrameBuffer.IsEmpty()
647 || !ImageMsg.IsValid())
648 {
649 return;
650 }
651
652 ImageMsg->height = Height;
653 ImageMsg->width = Width;
654
655 // Cast TArray<FColor> into uint8[] data with all channels (RBGA)
656 // Currently not in use but left here incase this is ever needed again.
657 //ImageMsg->encoding = "bgra8";
658 //ImageMsg->step = Width * 4;
659 //ImageMsg->data = const_cast<uint8*>(reinterpret_cast<const uint8*>(FrameBuffer.GetData()));
660
661 // Convert TArray<FColor> to uint8[] data without alpha channel
662 // By removing alpha channel, we reduce ~25% of ROS bandwidth,
663 // but costs a bit more in processing time here
664 const int32 BufferSize = Width * Height * 3;
665 if (!BGR8Buffer || CurrentBufferSize != BufferSize)
666 {
667 // Resize buffer if needed
668 delete[] BGR8Buffer;
669 BGR8Buffer = new uint8[BufferSize];
670 CurrentBufferSize = BufferSize;
671 }
672
673 uint8* Dest = BGR8Buffer;
674
675 const FColor* Source = FrameBuffer.GetData();
676 const int32 PixelCount = FrameBuffer.Num();
677
678 for (int32 i = 0; i < PixelCount; ++i)
679 {
680 const FColor& Pixel = Source[i];
681 *Dest++ = Pixel.B;
682 *Dest++ = Pixel.G;
683 *Dest++ = Pixel.R;
684 }
685
686 ImageMsg->step = Width * 3;
687 ImageMsg->data = BGR8Buffer;
688
689 // Send Image to ROS
690 Topic->Publish(ImageMsg);
691}
UTopic * GetROSTopic() const
Definition: Sensor.h:141
FORCEINLINE bool IsROSConnected() const
Definition: Sensor.h:192

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 793 of file Camera.cpp.

794{
796 {
797 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
798 CameraShowFlags.SetDynamicShadows(RenderShadows);
799 CameraShowFlags.SetContactShadows(RenderShadows);
800 CameraShowFlags.SetCapsuleShadows(RenderShadows);
801 }
802}

References CaptureComponent2D.

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

◆ SetTemporalAA()

void ACamera::SetTemporalAA ( bool  SetTemporal)

Set USceneCaptureComponent2D TemporalAA on or off.

Definition at line 804 of file Camera.cpp.

805{
807 {
808 auto& CameraShowFlags = CaptureComponent2D->ShowFlags;
809 CameraShowFlags.SetTemporalAA(SetTemporal);
810 }
811}

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 {
304 // Enable HDR on CaptureSource, only allowed for RGB Camera for now.
305 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorHDR;
306 }
307 else
308 {
309 CaptureComponent2D->CaptureSource = ESceneCaptureSource::SCS_FinalColorLDR;
310 }
311
312 CaptureComponent2D->bUseRayTracingIfEnabled = true;
313 CaptureComponent2D->UpdateContent();
314 CaptureComponent2D->Activate();
315
317
318 FString Encoding = "bgr8";
319
320 // Create ROS Image message
321 ImageMsg.Reset();
322 ImageMsg = MakeShared<ROSMessages::sensor_msgs::Image>();
323 ImageMsg->header.frame_id = "world";
324 ImageMsg->height = ImageWidth;
325 ImageMsg->width = ImageHeight;
326 ImageMsg->encoding = Encoding;
327 ImageMsg->is_bigendian = 0;
328 ImageMsg->step = ImageWidth * 4;
329
331
332 if (!UnrealWindow.IsValid())
333 {
334 // Create and setup UnrealWindow
335 FString windowName = GetSensorIdentifier() + " Window";
336 UnrealWindow = MakeShareable(new FUnrealWindow(ImageWidth, ImageHeight, windowName));
337
338 // Set on Window closed event
340 UnrealWindow->GetSWindow()->SetOnWindowClosed(OnWindowClosedDelegate);
341
342 // try to create Camera parameter Widget from path
343 FSoftClassPath WidgetClassPath(TEXT("/Game/Agrarsense/Widgets/Camera/WBP_CameraControlsMenu.WBP_CameraControlsMenu_C"));
344 UClass* WidgetClass = WidgetClassPath.TryLoadClass<UUserWidget>();
345
346 APlayerController* PlayerController = UGameplayStatics::GetPlayerController(GetWorld(), 0);
347
348 if (WidgetClass && PlayerController)
349 {
350 UCameraWidgetBase* WidgetInstance = CreateWidget<UCameraWidgetBase>(PlayerController, WidgetClass);
351 if (WidgetInstance)
352 {
353 bool ShowGuide = false;
354 WidgetInstance->Setup(this, ShowGuide);
355 this->AddWidgetToWindow(WidgetInstance);
356 }
357 }
358 }
359
360 bool Resized = false;
361 if (UnrealWindow.IsValid())
362 {
363 UnrealWindow->SetupComponent(CaptureRenderTarget);
364 if (UnrealWindow->GetWindowWidth() != ImageWidth || UnrealWindow->GetWindowHeight() != ImageHeight)
365 {
366 UnrealWindow->ResizeWindow(ImageWidth, ImageHeight);
367 Resized = true;
368 }
369 }
370
372
373 if (Resized)
374 {
376 }
377}
virtual ESensorTypes GetSensorType() const override
Definition: Camera.h:74
void OnWindowClosed(const TSharedRef< SWindow > &Window)
Definition: Camera.cpp:764
void StartFrameGrabber()
Definition: Camera.cpp:590
void AddWidgetToWindow(UWidget *WidgetToAdd)
Definition: Camera.cpp:777
void SetTemporalAA(bool SetTemporal)
Definition: Camera.cpp:804
TWeakObjectPtr< UMaterial > PhysicLensDistortion
Definition: Camera.h:292
FCameraDelegate_OnWindowResized OnCameraWindowResized
Definition: Camera.h:148
float CameraFrameRate
Definition: Camera.h:365
FString GetSensorIdentifier() const
Definition: Sensor.h:74
virtual void CreateROSTopic()
Definition: Sensor.cpp:173
virtual void Setup(ACamera *CameraRef, bool ShowOnStartup=true)

References AddWidgetToWindow(), FCameraBaseParameters::Aperture, FCameraBaseParameters::BloomIntensity, CameraFrameRate, CameraParameters, CaptureComponent2D, CaptureRenderTarget, FCameraBaseParameters::ChromAberrIntensity, FCameraBaseParameters::ChromAberrOffset, 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::MotionBlurIntensity, FCameraBaseParameters::MotionBlurMax, FCameraBaseParameters::MotionBlurMinObjSize, OnCameraWindowResized, OnWindowClosed(), OnWindowClosedDelegate, PhysicLensDistortion, FCameraBaseParameters::PostProcessingEffects, RGBCamera, FCameraBaseParameters::SendDataToROS, ASensor::SendDataToROS, SetTemporalAA(), UCameraWidgetBase::Setup(), 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 205 of file Camera.h.

206 {
207 AllowGimbal = UseGimbal;
208 }

◆ ShouldSimulate()

bool ACamera::ShouldSimulate ( const float  DeltaSeconds)
private

Should this camera sensor be simulated this frame

Definition at line 514 of file Camera.cpp.

515{
516 if (!CanSimulateSensor())
517 {
518 ShouldSimulateCamera = false;
520 }
521
523 {
526 }
527
528 FrameRateTimer += DeltaSeconds;
530 {
531 FrameRateTimer = 0.0f;
534 }
535
536 ShouldSimulateCamera = false;
537
539}
float FrameRateTimer
Definition: Camera.h:366
bool CanSimulateSensor() const
Definition: Sensor.h:161

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 590 of file Camera.cpp.

591{
592 if (!UnrealWindow.IsValid())
593 {
594#if WITH_EDITOR
595 UE_LOG(LogTemp, Warning, TEXT("Camera.cpp: UnrealWindow is nullptr!"));
596#endif
597 return;
598 }
599
600 // Destroy old FrameGrabber
602
603 TSharedPtr<FSceneViewport> SceneViewport = UnrealWindow->GetSceneViewport();
604 if (SceneViewport.IsValid() && CaptureRenderTarget)
605 {
606 EPixelFormat PixelFormat = GetPixelFormatFromRenderTargetFormat(TextureFormat);
607 FIntPoint Size = SceneViewport->GetSize();
608
610 {
611 // Currently only DVS camera needs this texture to render DVS output into separate FUnrealWindow.
612 CaptureFrameTexture = UTexture2D::CreateTransient(Size.X, Size.Y, PixelFormat);
613 CaptureFrameTexture->UpdateResource();
614 }
615
616 FrameGrabber = MakeShareable(new FFrameGrabber(SceneViewport.ToSharedRef(), Size, PixelFormat));
617 FrameGrabber->StartCapturingFrames();
618 }
619}
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 297 of file Camera.h.

Referenced by BeginPlay(), and PreActorTick().

◆ BGR8Buffer

uint8* ACamera::BGR8Buffer = nullptr
private

Definition at line 370 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ CameraFrameRate

float ACamera::CameraFrameRate = 0.0f
private

Definition at line 365 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 269 of file Camera.h.

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

◆ CameraParameters

FCameraBaseParameters ACamera::CameraParameters
private

Current Camera parameters.

Definition at line 341 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 284 of file Camera.h.

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

◆ CaptureRenderTarget

UTextureRenderTarget2D* ACamera::CaptureRenderTarget = nullptr
protected

Definition at line 274 of file Camera.h.

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

◆ CurrentBufferSize

int32 ACamera::CurrentBufferSize = 0
private

Definition at line 372 of file Camera.h.

Referenced by EndPlay(), and SendImageDataToROS().

◆ DronePtr

APIDDrone* ACamera::DronePtr = nullptr
protected

Definition at line 295 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 325 of file Camera.h.

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

◆ FrameRateTimer

float ACamera::FrameRateTimer = 0.0f
private

Definition at line 366 of file Camera.h.

Referenced by ShouldSimulate().

◆ GeoReferencingSystem

AGeoReferencingSystem* ACamera::GeoReferencingSystem = nullptr
private

Definition at line 350 of file Camera.h.

Referenced by CreateLogFile(), and SaveCameraMetaDataToDisk().

◆ IceMaterialInstance

TWeakObjectPtr<UMaterialInstanceDynamic> ACamera::IceMaterialInstance
protected

Definition at line 290 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ImageHeight

int ACamera::ImageHeight = 720
private

Definition at line 359 of file Camera.h.

Referenced by FrameGrabberCapture(), and SetupCamera().

◆ ImageMsg

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

Definition at line 356 of file Camera.h.

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

◆ ImageNumber

int ACamera::ImageNumber = 0
private

Definition at line 368 of file Camera.h.

Referenced by SaveImageToDisk().

◆ ImageWidth

int ACamera::ImageWidth = 1280
private

Definition at line 358 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 232 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnPreTickDelegate

FDelegateHandle ACamera::OnPreTickDelegate
protected

Definition at line 229 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ OnWindowClosedDelegate

FOnWindowClosed ACamera::OnWindowClosedDelegate
private

Definition at line 354 of file Camera.h.

Referenced by EndPlay(), and SetupCamera().

◆ ParametersChanged

bool ACamera::ParametersChanged = false
private

Definition at line 352 of file Camera.h.

◆ PhysicLensDistortion

TWeakObjectPtr<UMaterial> ACamera::PhysicLensDistortion
protected

Definition at line 292 of file Camera.h.

Referenced by SetupCamera().

◆ SaveCurrentFrameToDiskRequested

bool ACamera::SaveCurrentFrameToDiskRequested = false
private

Definition at line 361 of file Camera.h.

Referenced by FrameGrabberCapture().

◆ SensorSetRotation

FRotator ACamera::SensorSetRotation
protected

Definition at line 296 of file Camera.h.

Referenced by PreActorTick().

◆ ShouldSimulateCamera

bool ACamera::ShouldSimulateCamera = true
private

Definition at line 363 of file Camera.h.

Referenced by FrameGrabberCapture(), and ShouldSimulate().

◆ TempParams

FCameraBaseParameters ACamera::TempParams
private

Definition at line 347 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 288 of file Camera.h.

Referenced by BeginPlay(), and EndPlay().

◆ UnrealWindow

TSharedPtr<FUnrealWindow> ACamera::UnrealWindow
protected

◆ UseParallelLateTick

bool ACamera::UseParallelLateTick = true
protected

Definition at line 227 of file Camera.h.

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


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