#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)

virtual void	AddProcessingToFrameBuffer (TArray< FColor > &buffer) override

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	DisableShowFlags ()

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

AVehicle *	IsAttachedToVehicle () 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)

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)

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

FString	CreateTimeStampString () const

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

APIDDrone *	DronePtr = nullptr

FRotator	SensorSetRotation

bool	AllowGimbal = true

Protected Attributes inherited from ASensor
UTopic *	ROSTopic = nullptr

bool	SendDataToROS = true

ULogFile *	LogFile = nullptr

AActor *	ParentActor = 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 11 of file DepthCamera.cpp.

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

Member Function Documentation

◆ AddProcessingToFrameBuffer()

void ADepthCamera::AddProcessingToFrameBuffer ( TArray< FColor > & buffer )

overridevirtual

Add processing to the frame buffer.

Parameters

buffer - The frame buffer to process.

Reimplemented from ACamera.

Definition at line 57 of file DepthCamera.cpp.

{
    // TODO, can we avoid this altogether?
 
    // Get the raw buffer 
    FColor* BufferPtr = buffer.GetData();
 
    for (size_t i = 0; i < buffer.Num(); ++i)
    {
        // Convert the current FColor (sRGB 0-255) to FLinearColor (linear 0.0-1.0)
        FLinearColor pixel = FLinearColor::FromSRGBColor(BufferPtr[i]);
 
        // Process the pixel and convert it back to FColor (sRGB 0-255)
        // This step applies gamma correction and ensures values are properly adjusted
        BufferPtr[i] = FColor(
            FMath::RoundToInt(pixel.R * 255.0f),
            FMath::RoundToInt(pixel.G * 255.0f),
            FMath::RoundToInt(pixel.B * 255.0f));
    }
}

◆ ChangeDepthCameraParameters()

void ADepthCamera::ChangeDepthCameraParameters ( FDepthCameraParameters Parameters )

Change the Depth camera parameters.

Parameters

Parameters - The new Depth camera parameters.

Definition at line 50 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 17 of file DepthCamera.cpp.

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

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

◆ 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 42 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 44 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 61 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 53 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 23 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);
 
    // Or many other advanced show flags.
    DisableShowFlags();
}

References ACamera::CameraName, FDepthCameraParameters::ConvertToGrayscale, DepthCameraParameters, ACamera::DisableShowFlags(), 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 78 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;
#if PLATFORM_LINUX
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterialGrayscale_Alt.DepthEffectMaterialGrayscale_Alt";
#else
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterialGrayscale.DepthEffectMaterialGrayscale";
#endif
                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;
#if PLATFORM_LINUX
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterial_Alt.DepthEffectMaterial_Alt";
#else
                Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial";
#endif
                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 68 of file DepthCamera.h.

Member Data Documentation

◆ DepthCameraParameters

FDepthCameraParameters ADepthCamera::DepthCameraParameters

private

Definition at line 95 of file DepthCamera.h.

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

◆ DepthEffectMaterial

TWeakObjectPtr<UMaterial> ADepthCamera::DepthEffectMaterial

private

Definition at line 99 of file DepthCamera.h.

Referenced by EndPlay(), and SetupDepthMaterial().

◆ DepthEffectMaterialGrayscale

TWeakObjectPtr<UMaterial> ADepthCamera::DepthEffectMaterialGrayscale

private

Definition at line 97 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

◆ AddProcessingToFrameBuffer()

◆ ChangeDepthCameraParameters()

◆ DepthInit()

◆ EndPlay()

◆ GetDepthCameraParameters()

◆ GetParametersAsString()

◆ GetSensorType()

◆ Init()

◆ SetupDepthMaterial()

Friends And Related Function Documentation

◆ USensorFactory

Member Data Documentation

◆ DepthCameraParameters

◆ DepthEffectMaterial

◆ DepthEffectMaterialGrayscale