APhotoCapture Class Reference

#include <PhotoCapture.h>

Inheritance diagram for APhotoCapture:

Collaboration diagram for APhotoCapture:

Public Member Functions
	APhotoCapture (const FObjectInitializer &ObjectInitializer)
void	SetupPhotoCapture (FCaptureData NewCaptureData)

Protected Member Functions
virtual void	BeginPlay () override
virtual void	Tick (float DeltaTime) override
virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Private Member Functions
void	Capture ()
void	UpdateCameraPositions (const FTransform &Transform)
void	CaptureImages ()
void	DestroyCameras ()

Private Attributes
FCaptureData	CaptureData
int32	FrameCounter = 0

Detailed Description

Definition at line 41 of file PhotoCapture.h.

Constructor & Destructor Documentation

APhotoCapture()

APhotoCapture::APhotoCapture

(

const FObjectInitializer &

ObjectInitializer

)

Definition at line 10 of file PhotoCapture.cpp.

                                                                        : Super(ObjectInitializer)
{
    RootComponent = CreateDefaultSubobject<USceneComponent>(TEXT("SceneRoot"));
    PrimaryActorTick.bCanEverTick = true;
    PrimaryActorTick.bStartWithTickEnabled = false;
    PrimaryActorTick.TickGroup = TG_PrePhysics;
    SetActorTickEnabled(false);
}

Member Function Documentation

BeginPlay()

void APhotoCapture::BeginPlay ( )

overrideprotectedvirtual

Definition at line 54 of file PhotoCapture.cpp.

{
    Super::BeginPlay();
}

Capture()

void APhotoCapture::Capture ( )

private

Definition at line 73 of file PhotoCapture.cpp.

{
    // A bit convoluted logic due to its not guaranteed that we can move actor 
    // and save the camera image in the same frame.
 
    if (CaptureData.CurrentCaptureIndex < CaptureData.CapturePositions.Num())
    {
        FrameCounter++;
        UpdateCameraPositions(CaptureData.CapturePositions[CaptureData.CurrentCaptureIndex]);
        if (FrameCounter >= CaptureData.FramesToKeepInSamePosition)
        {
            FrameCounter = 0;
            if (CaptureData.CurrentCaptureIndex != CaptureData.CapturePositions.Num())
            {
                CaptureData.CurrentCaptureIndex++;
                CaptureImages();
            }
        }
    }
 
    if (CaptureData.CurrentCaptureIndex == CaptureData.CapturePositions.Num())
    {
        // Disable tick
        SetActorTickEnabled(false);
 
        // Destroy this Actor with delay so Camera sensors has time to save the last images
        FTimerHandle Handle;
        GetWorld()->GetTimerManager().SetTimer(Handle, FTimerDelegate::CreateLambda([this]
            {
                DestroyCameras();
                Destroy();
            }), 1.0f, false);
    }
}

References CaptureData, CaptureImages(), FCaptureData::CapturePositions, FCaptureData::CurrentCaptureIndex, Destroy, DestroyCameras(), FrameCounter, FCaptureData::FramesToKeepInSamePosition, and UpdateCameraPositions().

Referenced by Tick().

CaptureImages()

void APhotoCapture::CaptureImages ( )

private

Definition at line 120 of file PhotoCapture.cpp.

{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->SaveCurrentFrameToDisk();
        }
    }
}

References FCaptureData::Cameras, CaptureData, and ACamera::SaveCurrentFrameToDisk().

Referenced by Capture().

DestroyCameras()

void APhotoCapture::DestroyCameras ( )

private

Definition at line 132 of file PhotoCapture.cpp.

{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->Destroy();
        }
    }
}

References FCaptureData::Cameras, and CaptureData.

Referenced by Capture(), and SetupPhotoCapture().

EndPlay()

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

overrideprotectedvirtual

Definition at line 65 of file PhotoCapture.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    CaptureData.Cameras.Empty();
    CaptureData.CapturePositions.Empty();
}

References FCaptureData::Cameras, CaptureData, and FCaptureData::CapturePositions.

SetupPhotoCapture()

void APhotoCapture::SetupPhotoCapture

(

FCaptureData

NewCaptureData

)

Definition at line 19 of file PhotoCapture.cpp.

{
    CaptureData = NewCaptureData;
 
    if (CaptureData.CapturePositions.Num() != 0 && CaptureData.Cameras.Num() != 0)
    {
        for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
        {
            ACamera* CameraPtr = CaptureData.Cameras[i];
            if (CameraPtr)
            {
                FCameraBaseParameters params = CameraPtr->GetCameraParameters();
                params.SaveImageToDisk = false;
                params.SendDataToROS = false;
                CameraPtr->ChangeCameraParameters(params);
            }
        }
 
        UpdateCameraPositions(CaptureData.CapturePositions[0]);
 
        // Enable This Actor tick with delay
        FTimerHandle Handle;
        GetWorld()->GetTimerManager().SetTimer(Handle, FTimerDelegate::CreateLambda([this]
            {
                UpdateCameraPositions(CaptureData.CapturePositions[0]);
                SetActorTickEnabled(true);
            }), 0.1f, false);
    }
    else
    {
        DestroyCameras();
        Destroy();
    }
}

References FCaptureData::Cameras, CaptureData, FCaptureData::CapturePositions, ACamera::ChangeCameraParameters(), Destroy, DestroyCameras(), ACamera::GetCameraParameters(), FCameraBaseParameters::SaveImageToDisk, FCameraBaseParameters::SendDataToROS, and UpdateCameraPositions().

Referenced by USimulatorJsonParser::ParseDataCapture().

Tick()

void APhotoCapture::Tick ( float  DeltaTime )

overrideprotectedvirtual

Definition at line 59 of file PhotoCapture.cpp.

{
    Super::Tick(DeltaTime);
    Capture();
}

References Capture().

UpdateCameraPositions()

void APhotoCapture::UpdateCameraPositions ( const FTransform &  Transform )

private

Definition at line 108 of file PhotoCapture.cpp.

{
    for (int32 i = 0; i < CaptureData.Cameras.Num(); i++)
    {
        ACamera* CameraPtr = CaptureData.Cameras[i];
        if (CameraPtr)
        {
            CameraPtr->SetActorTransform(Transform);
        }
    }
}

References FCaptureData::Cameras, CaptureData, and Transform.

Referenced by Capture(), and SetupPhotoCapture().

Member Data Documentation

CaptureData

FCaptureData APhotoCapture::CaptureData

private

Definition at line 73 of file PhotoCapture.h.

Referenced by Capture(), CaptureImages(), DestroyCameras(), EndPlay(), SetupPhotoCapture(), and UpdateCameraPositions().

FrameCounter

int32 APhotoCapture::FrameCounter = 0

private

Definition at line 75 of file PhotoCapture.h.

Referenced by Capture().

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

• Unreal/Agrarsense/Source/Agrarsense/DataCapture/PhotoCapture.h
• Unreal/Agrarsense/Source/Agrarsense/DataCapture/PhotoCapture.cpp