Removed OldTransform workaround

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaEngine.cpp

@@ -110,9 +110,10 @@ void FCarlaEngine::NotifyEndEpisode()
 void FCarlaEngine::OnPreTick(UWorld *, ELevelTick TickType, float DeltaSeconds)
 {
   if (TickType == ELevelTick::LEVELTICK_All)
-  {  
+  {
     // update frame counter
     UpdateFrameCounter();
+    // UE_LOG(LogCarla, Warning, TEXT("-- UpdateFrameCounter() -> %d ---------------"), GetFrameCounter());
 
     // process RPC commands
     do
@@ -131,6 +132,7 @@ void FCarlaEngine::OnPreTick(UWorld *, ELevelTick TickType, float DeltaSeconds)
 void FCarlaEngine::OnPostTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
 {
   // tick the recorder/replayer system
+  // UE_LOG(LogCarla, Warning, TEXT("CarlaEngine - PostPhysTick - frame counter: %d"), FCarlaEngine::GetFrameCounter());
   if (GetCurrentEpisode())
   {
     auto* EpisodeRecorder = GetCurrentEpisode()->GetRecorder();

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.cpp

@@ -32,7 +32,6 @@ AInertialMeasurementUnit::AInertialMeasurementUnit(
   // Initialized to something hight to minimize the artifacts
   // when the initial values are unknown
   PrevDeltaTime = std::numeric_limits<float>::max();
-  OldTransform = GetActorTransform();
 }
 
 FActorDefinition AInertialMeasurementUnit::GetSensorDefinition()
@@ -40,10 +39,6 @@ FActorDefinition AInertialMeasurementUnit::GetSensorDefinition()
   return UActorBlueprintFunctionLibrary::MakeIMUDefinition();
 }
 
-const FTransform &AInertialMeasurementUnit::GetSyncActorTransform() const {
-  return OldTransform;
-}
-
 void AInertialMeasurementUnit::Set(const FActorDescription &ActorDescription)
 {
   Super::Set(ActorDescription);
@@ -150,6 +145,7 @@ carla::geom::Vector3D AInertialMeasurementUnit::ComputeAccelerometer(
 
 carla::geom::Vector3D AInertialMeasurementUnit::ComputeGyroscope()
 {
+  check(GetOwner() != nullptr);
   const FVector AngularVelocity =
       FIMU_GetActorAngularVelocityInRadians(*GetOwner());
 
@@ -184,15 +180,13 @@ float AInertialMeasurementUnit::ComputeCompass()
 
 void AInertialMeasurementUnit::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime)
 {
+  // UE_LOG(LogCarla, Warning, TEXT("IMU         - PostPhysTick - frame counter: %d"), FCarlaEngine::GetFrameCounter());
   auto Stream = GetDataStream(*this);
   Stream.Send(
       *this,
       ComputeAccelerometer(DeltaTime),
       ComputeGyroscope(),
       ComputeCompass());
-
-  // TODO: delete once the new tick pipeline is done
-  OldTransform = GetActorTransform();
 }
 
 void AInertialMeasurementUnit::SetAccelerationStandardDeviation(const FVector &Vec)

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/InertialMeasurementUnit.h

@@ -30,9 +30,6 @@ public:
 
   static FActorDefinition GetSensorDefinition();
 
-  /// @TODO: delete once the new tick pipeline is done
-  const FTransform &GetSyncActorTransform() const override;
-
   void Set(const FActorDescription &ActorDescription) override;
 
   void SetOwner(AActor *Owner) override;
@@ -72,9 +69,6 @@ public:
 
 private:
 
-  /// @TODO: delete once the new tick pipeline is done
-  FTransform OldTransform;
-
   void BeginPlay() override;
 
   /// Standard deviation for acceleration settings.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/PixelReader.h

@@ -91,6 +91,9 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor)
     return;
   }
 
+  // FlushRenderingCommands();
+  // Sensor.CaptureRenderTarget->UpdateResourceImmediate(true);
+
   // Enqueue a command in the render-thread that will write the image buffer to
   // the data stream. The stream is created in the capture thus executed in the
   // game-thread.
@@ -107,7 +110,6 @@ void FPixelReader::SendPixelsInRenderThread(TSensor &Sensor)
             Buffer,
             carla::sensor::SensorRegistry::get<TSensor *>::type::header_offset,
             InRHICmdList);
-
         if(Buffer.data())
         {
           SCOPE_CYCLE_COUNTER(STAT_CarlaSensorStreamSend);

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.cpp

@@ -7,6 +7,9 @@
 #include "Carla.h"
 #include "Carla/Sensor/SceneCaptureCamera.h"
 
+#include "Runtime/RenderCore/Public/RenderingThread.h"
+// #include "Runtime/Engine/Public/UnrealEngine.h"
+
 FActorDefinition ASceneCaptureCamera::GetSensorDefinition()
 {
   constexpr bool bEnableModifyingPostProcessEffects = true;
@@ -22,11 +25,32 @@ ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer &ObjectInitial
       TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
 }
 
+void ASceneCaptureCamera::Tick(const float DeltaTime)
+{
+  Super::Tick(DeltaTime);
+  // FlushRenderingCommands(true);
+  // UE_LOG(LogCarla, Warning, TEXT("FlushRenderingCommands()"));
+  // FPixelReader::SendPixelsInRenderThread(*this);
+  // RenderFence.BeginFence();
+  // UE_LOG(LogCarla, Warning, TEXT("RenderFence.BeginFence()"));
+}
+
 void ASceneCaptureCamera::SendPixels(UWorld *World, ELevelTick TickType, float DeltaSeconds)
 {
   if(ReadyToCapture)
   {
+    UE_LOG(LogCarla, Warning, TEXT("FlushRenderingCommands()"));
+    FlushRenderingCommands(true);
+
+    // UE_LOG(LogCarla, Warning, TEXT("RenderFence.Wait() (waiting...)"));
+    // RenderFence.Wait();
+
+    // FFrameEndSync::Sync(false);
+
+    // UE_LOG(LogCarla, Warning, TEXT("Fence done! Sending Pixels..."));
+
     FPixelReader::SendPixelsInRenderThread(*this);
+    // UE_LOG(LogCarla, Warning, TEXT("Pixels sended!"));
     ReadyToCapture = false;
   }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h

@@ -24,6 +24,8 @@ public:
 
   ASceneCaptureCamera(const FObjectInitializer &ObjectInitializer);
 
+  virtual void Tick(const float DeltaTime);
+
 protected:
 
   void SendPixels(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp

@@ -72,9 +72,9 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer &ObjectInitial
   ++SCENE_CAPTURE_COUNTER;
 }
 
-const FTransform &ASceneCaptureSensor::GetSyncActorTransform() const {
-  return OldTransform;
-}
+// const FTransform &ASceneCaptureSensor::GetSyncActorTransform() const {
+//   return OldTransform;
+// }
 
 void ASceneCaptureSensor::Set(const FActorDescription &Description)
 {
@@ -489,18 +489,19 @@ void ASceneCaptureSensor::BeginPlay()
   SceneCaptureSensor_local_ns::ConfigureShowFlags(CaptureComponent2D->ShowFlags,
       bEnablePostProcessingEffects);
 
-  // This ensures the camera is always spawning the rain drops in case the
-  // weather was previously set to has rain
+  // This ensures the camera is always spawning the raindrops in case the
+  // weather was previously set to have rain.
   GetEpisode().GetWeather()->NotifyWeather();
 
   Super::BeginPlay();
 
-  SendPixelsDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ASceneCaptureSensor::SendPixels);
+  SendPixelsDelegate = FWorldDelegates::OnWorldPreActorTick.AddUObject(this, &ASceneCaptureSensor::SendPixels);
+  // SendPixelsDelegate = FWorldDelegates::OnWorldPostActorTick.AddUObject(this, &ASceneCaptureSensor::SendPixels);
 }
 
 void ASceneCaptureSensor::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaTime)
 {
-  // Add the view information every tick. Its only used for one tick and then
+  // Add the view information every tick. It's only used for one tick and then
   // removed by the streamer.
   IStreamingManager::Get().AddViewInformation(
       CaptureComponent2D->GetComponentLocation(),
@@ -510,7 +511,7 @@ void ASceneCaptureSensor::PostPhysTick(UWorld *World, ELevelTick TickType, float
   ReadyToCapture = true;
 
   // TODO: delete once the new tick pipeline is done
-  OldTransform = GetActorTransform();
+  // OldTransform = GetActorTransform();
 }
 
 void ASceneCaptureSensor::EndPlay(const EEndPlayReason::Type EndPlayReason)
@@ -518,7 +519,8 @@ void ASceneCaptureSensor::EndPlay(const EEndPlayReason::Type EndPlayReason)
   Super::EndPlay(EndPlayReason);
   SCENE_CAPTURE_COUNTER = 0u;
 
-  FWorldDelegates::OnWorldPostActorTick.Remove(SendPixelsDelegate);
+  FWorldDelegates::OnWorldPreActorTick.Remove(SendPixelsDelegate);
+  // FWorldDelegates::OnWorldPostActorTick.Remove(SendPixelsDelegate);
 }
 
 // =============================================================================

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h

@@ -9,6 +9,7 @@
 #include "Carla/Sensor/PixelReader.h"
 #include "Carla/Sensor/Sensor.h"
 
+#include "Runtime/RenderCore/Public/RenderCommandFence.h"
 #include "SceneCaptureSensor.generated.h"
 
 class UDrawFrustumComponent;
@@ -42,7 +43,7 @@ public:
   ASceneCaptureSensor(const FObjectInitializer &ObjectInitializer);
 
   /// @TODO: delete once the new tick pipeline is done
-  const FTransform &GetSyncActorTransform() const override;
+  // const FTransform &GetSyncActorTransform() const override;
 
   void Set(const FActorDescription &ActorDescription) override;
 
@@ -315,6 +316,8 @@ protected:
   UPROPERTY(EditAnywhere)
   bool bEnablePostProcessingEffects = true;
 
-  bool ReadyToCapture = false;
+  FRenderCommandFence RenderFence;
+
+  bool ReadyToCapture = true;
 
 };