From bf886973743fb83e343d462fcc334e6d1d86fdc9 Mon Sep 17 00:00:00 2001
From: nsubiron <nsubiron@cvc.uab.es>
Date: Sat, 29 Sep 2018 14:24:15 +0200
Subject: [PATCH] Add debugging methods to scene capture sensor

---
 .../Carla/Sensor/SceneCaptureSensor.cpp       | 41 +++++++++++++++++++
 .../Source/Carla/Sensor/SceneCaptureSensor.h  | 14 ++++++-
 2 files changed, 53 insertions(+), 2 deletions(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
index 2a20e9f6d..7c6f554c3 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.cpp
@@ -7,6 +7,12 @@
 #include "Carla.h"
 #include "Carla/Sensor/SceneCaptureSensor.h"
 
+#include "Components/DrawFrustumComponent.h"
+#include "Components/SceneCaptureComponent2D.h"
+#include "Components/StaticMeshComponent.h"
+#include "Engine/TextureRenderTarget2D.h"
+#include "HighResScreenshot.h"
+
 static auto SCENE_CAPTURE_COUNTER = 0u;
 
 // =============================================================================
@@ -87,6 +93,41 @@ float ASceneCaptureSensor::GetFOVAngle() const
   return CaptureComponent2D->FOVAngle;
 }
 
+bool ASceneCaptureSensor::ReadPixels_GameThread(TArray<FColor> &BitMap) const
+{
+  check(IsInGameThread());
+  if (!CaptureRenderTarget)
+  {
+    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
+    return false;
+  }
+  FTextureRenderTargetResource *RTResource =
+      CaptureRenderTarget->GameThread_GetRenderTargetResource();
+  if (RTResource == nullptr)
+  {
+    UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
+    return false;
+  }
+  FReadSurfaceDataFlags ReadPixelFlags(RCM_UNorm);
+  ReadPixelFlags.SetLinearToGamma(true);
+  return RTResource->ReadPixels(BitMap, ReadPixelFlags);
+}
+
+bool ASceneCaptureSensor::SaveCaptureToDisk(const FString &FilePath) const
+{
+  TArray<FColor> OutBMP;
+  if (!ReadPixels_GameThread(OutBMP)) {
+    return false;
+  }
+  for (FColor &color : OutBMP) {
+    color.A = 255u;
+  }
+  const FIntPoint DestSize(GetImageWidth(), GetImageHeight());
+  FString ResultPath;
+  FHighResScreenshotConfig &HighResScreenshotConfig = GetHighResScreenshotConfig();
+  return HighResScreenshotConfig.SaveImage(FilePath, OutBMP, DestSize, &ResultPath);
+}
+
 void ASceneCaptureSensor::PostActorCreated()
 {
   Super::PostActorCreated();
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
index 5b05df0a1..e411702ee 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureSensor.h
@@ -22,14 +22,14 @@ class UTextureRenderTarget2D;
 /// SetUpSceneCaptureComponent function.
 ///
 /// @warning All the setters should be called before BeginPlay.
-UCLASS()
+UCLASS(Abstract)
 class CARLA_API ASceneCaptureSensor : public ASensor
 {
   GENERATED_BODY()
 
 public:
 
-  ASceneCaptureSensor(const FObjectInitializer& ObjectInitializer);
+  ASceneCaptureSensor(const FObjectInitializer &ObjectInitializer);
 
   void SetImageSize(uint32 Width, uint32 Height);
 
@@ -43,11 +43,15 @@ public:
     return ImageHeight;
   }
 
+protected:
+
   void EnablePostProcessingEffects(bool Enable = true)
   {
     bEnablePostProcessingEffects = Enable;
   }
 
+public:
+
   bool ArePostProcessingEffectsEnabled() const
   {
     return bEnablePostProcessingEffects;
@@ -57,6 +61,12 @@ public:
 
   float GetFOVAngle() const;
 
+  /// Use only for debugging purposes.
+  bool ReadPixels_GameThread(TArray<FColor> &BitMap) const;
+
+  /// Use only for debugging purposes.
+  bool SaveCaptureToDisk(const FString &FilePath) const;
+
 protected:
 
   virtual void PostActorCreated() override;