#include <DepthCamera.h>

Inheritance diagram for ADepthCamera:

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Collaboration diagram for ADepthCamera:

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Public Member Functions
	ADepthCamera (const FObjectInitializer &ObjectInitializer)

void	ChangeDepthCameraParameters (FDepthCameraParameters Parameters)

FDepthCameraParameters	GetDepthCameraParameters ()

virtual ESensorTypes	GetSensorType () const override

virtual FString	GetParametersAsString () const override

Public Member Functions inherited from ACamera
	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

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

ASensorModel *	GetSensorModel () const

void	SetSensorModel (ASensorModel *NewSensorModel)

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)

Private Member Functions
void	DepthInit (FDepthCameraParameters Parameters, bool SimulateSensor=true)

void	Init (FCameraBaseParameters parameters, bool SimulateSensor=true) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	SetupDepthMaterial (const bool UseGrayscale)

Private Attributes
FDepthCameraParameters	DepthCameraParameters

TWeakObjectPtr< UMaterial >	DepthEffectMaterialGrayscale

TWeakObjectPtr< UMaterial >	DepthEffectMaterial

Friends
class	USensorFactory

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 ()

Public Attributes inherited from ACamera
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 inherited from ACamera
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)

Static Protected Member Functions inherited from ASensor
template<typename InStructType >
static FString	StructToString (const InStructType &InStruct)

Protected Attributes inherited from ACamera
bool	UseParallelLateTick = true

FDelegateHandle	OnPreTickDelegate

FDelegateHandle	OnPostTickDelegate

FString	CameraName = "Camera "

FString	FilePrefix = "Data/Camera_"

UTextureRenderTarget2D *	CaptureRenderTarget = nullptr

USceneCaptureComponent2D *	CaptureComponent2D = nullptr

UTexture2D *	CaptureFrameTexture

TSharedPtr< FUnrealWindow >	UnrealWindow

FTickEntry	TickEntry

TWeakObjectPtr< UMaterialInstanceDynamic >	IceMaterialInstance

TWeakObjectPtr< UMaterial >	PhysicLensDistortion

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

FString	FileSavePath

UROSIntegrationGameInstance *	ROSInstance = nullptr

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

Class for Depth Camera.

See also: ACamera

Definition at line 18 of file DepthCamera.h.

Constructor & Destructor Documentation

◆ ADepthCamera()

ADepthCamera::ADepthCamera ( const FObjectInitializer & ObjectInitializer )

Definition at line 9 of file DepthCamera.cpp.

                                                                      : Super(ObjectInitializer)
{
    // Ticked by Camera base class
    PrimaryActorTick.bCanEverTick = false;
}

Member Function Documentation

◆ ChangeDepthCameraParameters()

void ADepthCamera::ChangeDepthCameraParameters ( FDepthCameraParameters Parameters )

Change the Depth camera parameters.

Parameters

Parameters - The new Depth camera parameters.

Definition at line 45 of file DepthCamera.cpp.

{
    DepthCameraParameters = Parameters;
    SetupDepthMaterial(Parameters.ConvertToGrayscale);
    ChangeCameraParameters(Parameters.CameraParameters);
}

References FDepthCameraParameters::CameraParameters, ACamera::ChangeCameraParameters(), FDepthCameraParameters::ConvertToGrayscale, DepthCameraParameters, and SetupDepthMaterial().

◆ DepthInit()

void ADepthCamera::DepthInit	(	FDepthCameraParameters	Parameters,
		bool	SimulateSensor = `true`
	)

private

Initializes a new Depth Camera sensor with specified Depth camera parameters.

Parameters

parameters	A FDepthCameraParameters struct.
SimulateSensor	A boolean flag to indicate whether the sensor should be simulated (default is true).

Definition at line 15 of file DepthCamera.cpp.

{
    DepthCameraParameters = Parameters;
    Init(DepthCameraParameters.CameraParameters, SimulateSensor);
}

References FDepthCameraParameters::CameraParameters, DepthCameraParameters, and Init().

Referenced by USensorFactory::SpawnDepthCamera().

◆ EndPlay()

void ADepthCamera::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Called when the camera's play ends.

Parameters

EndPlayReason - The reason for the end of play.

Reimplemented from ACamera.

Definition at line 37 of file DepthCamera.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    DepthEffectMaterialGrayscale.Reset();
    DepthEffectMaterial.Reset();
}

References DepthEffectMaterial, and DepthEffectMaterialGrayscale.

◆ GetDepthCameraParameters()

FDepthCameraParameters ADepthCamera::GetDepthCameraParameters ( )

inline

Get the current Depth camera parameters.

Returns: FDepthCameraParameters struct.

Definition at line 38 of file DepthCamera.h.

    {
        return DepthCameraParameters;
    }

Referenced by USimulatorJsonExporter::ExportSensorToJSON().

◆ GetParametersAsString()

virtual FString ADepthCamera::GetParametersAsString ( ) const

inlineoverridevirtual

Get this sensor parameters struct fields as one string.

Reimplemented from ACamera.

Definition at line 55 of file DepthCamera.h.

    {
        return StructToString(DepthCameraParameters);
    }

◆ GetSensorType()

virtual ESensorTypes ADepthCamera::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ACamera.

Definition at line 47 of file DepthCamera.h.

    {
        return ESensorTypes::DepthCamera;
    }

References DepthCamera.

◆ Init()

void ADepthCamera::Init	(	FCameraBaseParameters	parameters,
		bool	SimulateSensor = `true`
	)

overrideprivatevirtual

Initializes a new Depth Camera sensor with specified parameters, overriding the base class method.

Parameters

parameters	A FCameraBaseParameters struct.
SimulateSensor	A boolean flag to indicate whether the sensor should be simulated (default is true).

Reimplemented from ACamera.

Definition at line 21 of file DepthCamera.cpp.

{
    // Set directory and camera name, defined in Camera.h
    CameraName = "DepthCamera ";
    FilePrefix = "Data/DepthCamera_";
 
    // Setup Depth material
    SetupDepthMaterial(DepthCameraParameters.ConvertToGrayscale);
 
    // Call Camera base class Init
    Super::Init(parameters, SimulateSensor);
 
    // This camera doesn't need to render shadows
    SetShadowRendering(false);
}

References ACamera::CameraName, FDepthCameraParameters::ConvertToGrayscale, DepthCameraParameters, ACamera::FilePrefix, ACamera::SetShadowRendering(), and SetupDepthMaterial().

Referenced by DepthInit().

◆ SetupDepthMaterial()

void ADepthCamera::SetupDepthMaterial ( const bool UseGrayscale )

private

Setup which post processing material to use.

Definition at line 52 of file DepthCamera.cpp.

{
    // Get SceneCaptureComponent2D from the base Camera class
    USceneCaptureComponent2D* SceneCaptureComponent = GetCaptureComponent2D();
 
    if (SceneCaptureComponent)
    {
        // Determine which post-processing material to apply based on whether grayscale is used
        if (UseGrayscale)
        {
            // Load and apply the grayscale material if it hasn't been loaded already
            if (!DepthEffectMaterialGrayscale.IsValid())
            {
                FString Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterialGrayscale.DepthEffectMaterialGrayscale";
                DepthEffectMaterialGrayscale = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
                AddPostProcessingMaterial(Path, 1.0f);
            }
 
            // Remove the non-grayscale material if it's currently applied
            if (DepthEffectMaterial.IsValid())
            {
                RemovePostProcessingMaterial(DepthEffectMaterial.Get());
                DepthEffectMaterial.Reset();
            }
        }
        else
        {
            // Load and apply the non-grayscale material if it hasn't been loaded already
            if (!DepthEffectMaterial.IsValid())
            {
                FString Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial";
                DepthEffectMaterial = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
                AddPostProcessingMaterial(Path, 1.0f);
            }
 
            // Remove the grayscale material if it's currently applied
            if (DepthEffectMaterialGrayscale.IsValid())
            {
                RemovePostProcessingMaterial(DepthEffectMaterialGrayscale.Get());
                DepthEffectMaterialGrayscale.Reset();
            }
        }
    }
}

References ACamera::AddPostProcessingMaterial(), DepthEffectMaterial, DepthEffectMaterialGrayscale, ACamera::GetCaptureComponent2D(), and ACamera::RemovePostProcessingMaterial().

Referenced by ChangeDepthCameraParameters(), and Init().

Friends And Related Function Documentation

◆ USensorFactory

friend class USensorFactory

friend

Definition at line 62 of file DepthCamera.h.

Member Data Documentation

◆ DepthCameraParameters

FDepthCameraParameters ADepthCamera::DepthCameraParameters

private

Definition at line 89 of file DepthCamera.h.

Referenced by ChangeDepthCameraParameters(), DepthInit(), and Init().

◆ DepthEffectMaterial

TWeakObjectPtr<UMaterial> ADepthCamera::DepthEffectMaterial

private

Definition at line 93 of file DepthCamera.h.

Referenced by EndPlay(), and SetupDepthMaterial().

◆ DepthEffectMaterialGrayscale

TWeakObjectPtr<UMaterial> ADepthCamera::DepthEffectMaterialGrayscale

private

Definition at line 91 of file DepthCamera.h.

Referenced by EndPlay(), and SetupDepthMaterial().

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

Unreal/Agrarsense/Source/Agrarsense/Sensor/Camera/DepthCamera.h
Unreal/Agrarsense/Source/Agrarsense/Sensor/Camera/DepthCamera.cpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ADepthCamera()

Member Function Documentation

◆ ChangeDepthCameraParameters()

◆ DepthInit()

◆ EndPlay()

◆ GetDepthCameraParameters()

◆ GetParametersAsString()

◆ GetSensorType()

◆ Init()

◆ SetupDepthMaterial()

Friends And Related Function Documentation

◆ USensorFactory

Member Data Documentation

◆ DepthCameraParameters

◆ DepthEffectMaterial

◆ DepthEffectMaterialGrayscale