#include <ThermalCamera.h>

Inheritance diagram for AThermalCamera:

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Collaboration diagram for AThermalCamera:

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Public Member Functions
	AThermalCamera (const FObjectInitializer &ObjectInitializer)

void	ChangeThermalCameraParameters (FThermalCameraParameters Parameters)

FThermalCameraParameters	GetThermalCameraParameters () const

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

void	ThermalInit (FThermalCameraParameters Parameters, bool SimulateSensor=true)

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

void	SetupMaterial ()

void	UpdateThermalMaterial ()

Private Attributes
FThermalCameraParameters	ThermalCameraParameters

TWeakObjectPtr< UMaterialInstanceDynamic >	ThermalMaterial

Static Private Attributes
static const FName	WidthNoise = "WidthNoise"

static const FName	HeightNoise = "HeightNoise"

static const FName	WarmColor = "WarmColor"

static const FName	WarmColor2 = "WarmColor2"

static const FName	ColdColor = "ColdColor"

static const FName	ColdColor2 = "ColdColor2"

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 Thermal camera. This camera uses post processing material to color all certain objects (such as animals) with warm colors and everything else with cold colors.

Definition at line 21 of file ThermalCamera.h.

Constructor & Destructor Documentation

◆ AThermalCamera()

AThermalCamera::AThermalCamera ( const FObjectInitializer & ObjectInitializer )

Definition at line 11 of file ThermalCamera.cpp.

                                                                          : Super(ObjectInitializer)
{
    PrimaryActorTick.bCanEverTick = false;
}

Member Function Documentation

◆ ChangeThermalCameraParameters()

void AThermalCamera::ChangeThermalCameraParameters ( FThermalCameraParameters Parameters )

Definition at line 43 of file ThermalCamera.cpp.

{
    // Set new Thermal camera parameters
    ThermalCameraParameters = Parameters;
 
    // Update material
    UpdateThermalMaterial();
 
    // Notify Camera base class to change FCameraBaseParameters
    ChangeCameraParameters(Parameters.CameraParameters);
}

References FThermalCameraParameters::CameraParameters, ACamera::ChangeCameraParameters(), ThermalCameraParameters, and UpdateThermalMaterial().

◆ EndPlay()

void AThermalCamera::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 36 of file ThermalCamera.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    ThermalMaterial.Reset();
}

References ThermalMaterial.

◆ GetParametersAsString()

virtual FString AThermalCamera::GetParametersAsString ( ) const

inlineoverridevirtual

Get this sensor parameters struct fields as one string.

Reimplemented from ACamera.

Definition at line 50 of file ThermalCamera.h.

    {
        return StructToString(ThermalCameraParameters);
    }

◆ GetSensorType()

virtual ESensorTypes AThermalCamera::GetSensorType ( ) const

inlineoverridevirtual

Get type of the sensor

Returns: Sensor's type

Reimplemented from ACamera.

Definition at line 42 of file ThermalCamera.h.

    {
        return ESensorTypes::ThermalCamera;
    }

References ThermalCamera.

◆ GetThermalCameraParameters()

FThermalCameraParameters AThermalCamera::GetThermalCameraParameters ( ) const

inline

Definition at line 33 of file ThermalCamera.h.

    {
        return ThermalCameraParameters;
    }

Referenced by USimulatorJsonExporter::ExportSensorToJSON().

◆ Init()

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

overrideprivatevirtual

Initialize new Camera sensor

Parameters

FCameraBaseParameters CameraParameters struct

Reimplemented from ACamera.

Definition at line 22 of file ThermalCamera.cpp.

{
    // Defined in Camera.h
    CameraName = "ThermalCamera ";
    FilePrefix = "Data/ThermalCamera_";
 
    SetupMaterial();
 
    // Call Camera base class Init
    Super::Init(parameters, SimulateSensor);
 
    SetShadowRendering(false);
}

References ACamera::CameraName, ACamera::FilePrefix, ACamera::SetShadowRendering(), and SetupMaterial().

Referenced by ThermalInit().

◆ SetupMaterial()

void AThermalCamera::SetupMaterial ( )

private

Definition at line 55 of file ThermalCamera.cpp.

{
    // Get SceneCaptureComponent2D from the base Camera class
    USceneCaptureComponent2D* SceneCaptureComponent = GetCaptureComponent2D();
 
    if (SceneCaptureComponent)
    {
        FPostProcessSettings& PostProcessSettings = SceneCaptureComponent->PostProcessSettings;
        if (!ThermalMaterial.IsValid())
        {
            FString Path = "/Game/Agrarsense/Materials/PostProcessingMaterials/M_ThermalCameraMaterial.M_ThermalCameraMaterial";
            UMaterial* BaseMaterial = Cast<UMaterial>(StaticLoadObject(UMaterial::StaticClass(), nullptr, *Path));
            if (BaseMaterial)
            {
                UMaterialInstanceDynamic* DynamicMaterialInstance = UMaterialInstanceDynamic::Create(BaseMaterial, this);
                ThermalMaterial = DynamicMaterialInstance;
                PostProcessSettings.AddBlendable(ThermalMaterial.Get(), 1.0f);
                UpdateThermalMaterial();
            }
        }
    }
}

References ACamera::GetCaptureComponent2D(), ThermalMaterial, and UpdateThermalMaterial().

Referenced by Init().

◆ ThermalInit()

void AThermalCamera::ThermalInit	(	FThermalCameraParameters	Parameters,
		bool	SimulateSensor = `true`
	)

private

Definition at line 16 of file ThermalCamera.cpp.

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

References FThermalCameraParameters::CameraParameters, Init(), and ThermalCameraParameters.

Referenced by USensorFactory::SpawnThermalCamera().

◆ UpdateThermalMaterial()

void AThermalCamera::UpdateThermalMaterial ( )

private

Definition at line 78 of file ThermalCamera.cpp.

{
    UMaterialInstanceDynamic* Material = ThermalMaterial.Get();
    if (Material)
    {
        float Width, Height;
        if (ThermalCameraParameters.AllowCustomNoiseResolution)
        {
            Width = ThermalCameraParameters.WidthResolutionNoise;
            Height = ThermalCameraParameters.HeightResolutionNoise;
        }
        else
        {
            Width = ThermalCameraParameters.CameraParameters.Width;
            Height = ThermalCameraParameters.CameraParameters.Height;
        }
 
        // Set material instance dynamic parameters.
        Material->SetScalarParameterValue(WidthNoise, Width);
        Material->SetScalarParameterValue(HeightNoise, Height);
 
        Material->SetVectorParameterValue(WarmColor, ThermalCameraParameters.WarmColor);
        Material->SetVectorParameterValue(WarmColor2, ThermalCameraParameters.WarmColor2);
 
        Material->SetVectorParameterValue(ColdColor, ThermalCameraParameters.ColdColor);
        Material->SetVectorParameterValue(ColdColor2, ThermalCameraParameters.ColdColor2);
    }
}

Referenced by ChangeThermalCameraParameters(), and SetupMaterial().

Friends And Related Function Documentation

◆ USensorFactory

friend class USensorFactory

friend

Definition at line 57 of file ThermalCamera.h.

Member Data Documentation

◆ ColdColor

const FName AThermalCamera::ColdColor = "ColdColor"

inlinestaticprivate

Definition at line 82 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

◆ ColdColor2

const FName AThermalCamera::ColdColor2 = "ColdColor2"

inlinestaticprivate

Definition at line 83 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

◆ HeightNoise

const FName AThermalCamera::HeightNoise = "HeightNoise"

inlinestaticprivate

Definition at line 78 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

◆ ThermalCameraParameters

FThermalCameraParameters AThermalCamera::ThermalCameraParameters

private

Definition at line 73 of file ThermalCamera.h.

Referenced by ChangeThermalCameraParameters(), ThermalInit(), and UpdateThermalMaterial().

◆ ThermalMaterial

TWeakObjectPtr<UMaterialInstanceDynamic> AThermalCamera::ThermalMaterial

private

Definition at line 75 of file ThermalCamera.h.

Referenced by EndPlay(), SetupMaterial(), and UpdateThermalMaterial().

◆ WarmColor

const FName AThermalCamera::WarmColor = "WarmColor"

inlinestaticprivate

Definition at line 80 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

◆ WarmColor2

const FName AThermalCamera::WarmColor2 = "WarmColor2"

inlinestaticprivate

Definition at line 81 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

◆ WidthNoise

const FName AThermalCamera::WidthNoise = "WidthNoise"

inlinestaticprivate

Definition at line 77 of file ThermalCamera.h.

Referenced by UpdateThermalMaterial().

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

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AThermalCamera()

Member Function Documentation

◆ ChangeThermalCameraParameters()

◆ EndPlay()

◆ GetParametersAsString()

◆ GetSensorType()

◆ GetThermalCameraParameters()

◆ Init()

◆ SetupMaterial()

◆ ThermalInit()

◆ UpdateThermalMaterial()

Friends And Related Function Documentation

◆ USensorFactory

Member Data Documentation

◆ ColdColor

◆ ColdColor2

◆ HeightNoise

◆ ThermalCameraParameters

◆ ThermalMaterial

◆ WarmColor

◆ WarmColor2

◆ WidthNoise