#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	DisableShowFlags ()

void	SetTemporalAA (bool SetTemporal)

void	ResizeCamera (int32 Width=1280, int32 Height=720)

void	AddHiddenActor (AActor *Actor)

void	SaveCurrentFrameToDisk ()

int32	GetCameraWidth () const

int32	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)

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
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

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

void	UpdateCameraStabilization ()

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

void	PixelReadEndOfFrame (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	EndOfFrameParellel (float DeltaTime)

virtual void	AddProcessingToFrameBuffer (TArray< FColor > &buffer)

void	ApplyGammaCorrectionLUT (TArray< FColor > &Buffer)

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

TSharedPtr< ROSMessages::sensor_msgs::Image >	ImageMsg

bool	UseReadPixels = false

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

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

See also: ACamera for how camera pixels are rendered, read, saved and sent to ROS.

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