Added the option to save SceneCapture images to disk on SensorSpawnerActor. (#7152)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/SensorSpawnerActor.cpp

@@ -4,14 +4,17 @@
 #include "Util/SensorSpawnerActor.h"
 #include "Carla/Game/CarlaEpisode.h"
 #include "Game/CarlaGameModeBase.h"
+#include "Sensor/SceneCaptureCamera.h"
 #include "Sensor/Sensor.h"
 
 DEFINE_LOG_CATEGORY_STATIC(LogSensorSpawnerActor, Verbose, All);
 
 ASensorSpawnerActor::ASensorSpawnerActor()
 {
-	PrimaryActorTick.bCanEverTick = false;
-
+	PrimaryActorTick.bCanEverTick = true;
+  PrimaryActorTick.bStartWithTickEnabled = false;
+  PrimaryActorTick.TickInterval = TickInterval;
+  
   SceneComp = CreateDefaultSubobject<USceneComponent>(TEXT("SceneComp"));
   RootComponent = SceneComp;
 }
@@ -19,14 +22,19 @@ ASensorSpawnerActor::ASensorSpawnerActor()
 void ASensorSpawnerActor::BeginPlay()
 {
   Super::BeginPlay();
-  
+
   // Wait for the CarlaEpisode initialisation. It is done on CarlaGameMode BeginPlay().
   if(ACarlaGameModeBase* CarlaGameMode = Cast<ACarlaGameModeBase>(UGameplayStatics::GetGameMode(GetWorld())))
   {
     CarlaGameMode->OnEpisodeInitialisedDelegate.AddDynamic(this, &ASensorSpawnerActor::OnEpisodeInitialised);
   }
+
+  SetActorTickInterval(TickInterval);
+  SaveImagePath = FPaths::ProjectSavedDir() + "/SensorSpawnerCaptures/" + FString::Printf(TEXT("%lld"), FDateTime::Now().ToUnixTimestamp());
 }
 
+
+
 void ASensorSpawnerActor::OnEpisodeInitialised(UCarlaEpisode* InitialisedEpisode)
 {
   if(IsValid(InitialisedEpisode))
@@ -83,14 +91,19 @@ const FActorDefinition* ASensorSpawnerActor::GetActorDefinitionByClass(const TSu
   return ActorDefinition;
 }
 
-void ASensorSpawnerActor::SpawnSensorActor(const FActorDescription& SensorDescription) const
+void ASensorSpawnerActor::SpawnSensorActor(const FActorDescription& SensorDescription)
 {
   if(IsValid(CarlaEpisode))
   {
     FTransform Transform;
     GetRandomTransform(Transform);
     
-    CarlaEpisode->SpawnActorWithInfo(Transform, SensorDescription);
+    const TPair<EActorSpawnResultStatus, FCarlaActor*> SpawnResult = CarlaEpisode->SpawnActorWithInfo(Transform, SensorDescription);
+    
+    if(bSaveCameraToDisk && SpawnResult.Value)
+    {
+      StartSavingCapturesToDisk(SpawnResult.Value->GetActor());
+    }
   }
 }
 
@@ -144,4 +157,41 @@ void ASensorSpawnerActor::SpawnSensorsDelayed()
   {
     SensorsToSpawnCopy.RemoveAt(0);
   }
-}
+}
+
+void ASensorSpawnerActor::Tick(float DeltaSeconds)
+{
+  Super::Tick(DeltaSeconds);
+
+  for(const ASceneCaptureCamera* CaptureCamera : SceneCaptureCameras)
+  {
+    if(CaptureCamera)
+    {
+      CaptureCamera->SaveCaptureToDisk(SaveImagePath + "/" + CaptureCamera->GetName() + "/" + FString::Printf(TEXT("%lld"), FDateTime::Now().ToUnixTimestamp()) + ".png" );
+    }
+  }
+}
+
+void ASensorSpawnerActor::RemoveSceneCaptureCameras()
+{
+  if(SceneCaptureCameras.IsValidIndex(0))
+  {
+    SceneCaptureCameras.RemoveAt(0);
+  }
+
+  if(SceneCaptureCameras.IsEmpty())
+  {
+    SetActorTickEnabled(false);
+  }
+}
+
+void ASensorSpawnerActor::StartSavingCapturesToDisk(const AActor* Actor)
+{
+  if(const ASceneCaptureCamera* CaptureCamera = Cast<ASceneCaptureCamera>(Actor))
+  {
+    SceneCaptureCameras.Add(CaptureCamera);
+    SetActorTickEnabled(true);
+    FTimerHandle CaptureTimerHandle;
+    GetWorldTimerManager().SetTimer(CaptureTimerHandle, this, &ASensorSpawnerActor::RemoveSceneCaptureCameras, CaptureTime);
+  }
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/SensorSpawnerActor.h

@@ -43,6 +43,8 @@ protected:
 	// Called when the game starts or when spawned.
 	virtual void BeginPlay() override;
 
+	virtual void Tick(float DeltaSeconds) override;
+
 	// Root
 	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category="Components")
 	USceneComponent* SceneComp;
@@ -67,6 +69,18 @@ protected:
 	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category="Config")
 	FVector MinSpawnLocation {-120000.f, -110000.f, 9300.f};
 
+	// Enables that all SceneCaptures cameras save captures to /Saved/SensorSpawnerCaptures folder.
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category="Config|SceneCapture")
+	bool bSaveCameraToDisk = false;
+
+	// How often ticking is done and a SceneCapture image is taken.
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, Category="Config|SceneCapture")
+	float TickInterval = 1.f;
+
+	// Amount of time each camera takes captures.
+	UPROPERTY(EditAnywhere, BlueprintReadOnly, meta=(ClampMin=1.f), Category="Config|SceneCapture")
+	float CaptureTime = 30.f;
+	
 	
 private:
 	UFUNCTION()
@@ -74,13 +88,18 @@ private:
 
 	UFUNCTION()
 	void SpawnSensorsDelayed();
+
+	UFUNCTION()
+	void RemoveSceneCaptureCameras();
+
+	void StartSavingCapturesToDisk(const AActor* Actor);
 	
 	void GenerateSensorActorDescription(const FActorDefinition* Definition, FActorDescription& SensorDescription) const;
 
 	// Gets a transform with a random location between MaxSpawnLocation and MinSpawnLocation.
 	void GetRandomTransform(FTransform &Transform) const;
   
-	void SpawnSensorActor(const FActorDescription& SensorDescription) const;
+	void SpawnSensorActor(const FActorDescription& SensorDescription);
 
 	const FActorDefinition* GetActorDefinitionByClass(const TSubclassOf<AActor> ActorClass) const;
 
@@ -89,9 +108,15 @@ private:
 	UPROPERTY()
 	UCarlaEpisode* CarlaEpisode;
 
-	// Used for delayed spawn
+	// Used for delayed spawn.
 	FTimerHandle SpawnSensorsDelayedTimerHandle;
 	
-	// Used for delayed spawn
+	// Used for delayed spawn. Track cameras taking pictures on tick.
 	TArray<FSensorTuple> SensorsToSpawnCopy;
+	
+	// Track cameras saving pictures on tick.
+	TArray<const class ASceneCaptureCamera*> SceneCaptureCameras;
+	
+	// Path to the /Saved/SensorSpawnerCaptures project folder.
+	FString SaveImagePath;
 };