Make adding capture cameras fully customizable in settings file

Resources/Example.CarlaSettings.ini

@@ -15,15 +15,22 @@ WritePort=2001
 ReadPort=2002
 
 [CARLA/SceneCapture]
-; Valid values: Mono, Stereo, NoCapture.
+; Names of the scene capture cameras to attach to the player, each of them
-; The mode is overriden by the client if networking is enabled.
+; should be defined in its own subsection.
-Mode=Mono
+Cameras=CameraStereoLeft/RGB,CameraStereoLeft/Depth,CameraStereoRight/RGB,CameraStereoRight/Depth
-; Size of the captured image in pixels.
+; Cameras=CameraMono
+
+; Defaults for each camera can be set here, e.g.
 ImageSizeX=720
 ImageSizeY=512
 
-[CARLA/SceneCapture/Mono]
+[CARLA/SceneCapture/CameraMono]
-; Image size can also be changed by mode.
+; Post-processing effect to be applied. Valid values:
+;   * None           No effects applied.
+;   * SceneFinal     Post-processing present at scene (bloom, fog, etc).
+;   * Depth          Depth map only.
+PostProcessing=SceneFinal
+; Size of the captured image in pixels.
 ImageSizeX=720
 ImageSizeY=512
 ; Position of the camera relative to the car in centimeters.
@@ -35,18 +42,25 @@ CameraRotationPitch=0
 CameraRotationRoll=0
 CameraRotationYaw=0
 
-[CARLA/SceneCapture/Stereo]
+[CARLA/SceneCapture/CameraStereoLeft]
-; Position of the cameras relative to the car in centimeters.
+CameraPositionX=170
-Camera0PositionX=170
+CameraPositionY=-30
-Camera0PositionY=30
+CameraPositionZ=150
-Camera0PositionZ=150
+CameraRotationPitch=0
-Camera1PositionX=170
+CameraRotationRoll=0
-Camera1PositionY=-30
+CameraRotationYaw=0
-Camera1PositionZ=150
+[CARLA/SceneCapture/CameraStereoLeft/RGB]
-; Rotation of the cameras relative to the car in degrees.
+PostProcessing=SceneFinal
-Camera0RotationPitch=0
+[CARLA/SceneCapture/CameraStereoLeft/Depth]
-Camera0RotationRoll=0
+PostProcessing=Depth
-Camera0RotationYaw=0
+[CARLA/SceneCapture/CameraStereoRight]
-Camera1RotationPitch=0
+CameraPositionX=170
-Camera1RotationRoll=0
+CameraPositionY=30
-Camera1RotationYaw=0
+CameraPositionZ=150
+CameraRotationPitch=0
+CameraRotationRoll=0
+CameraRotationYaw=0
+[CARLA/SceneCapture/CameraStereoRight/RGB]
+PostProcessing=SceneFinal
+[CARLA/SceneCapture/CameraStereoRight/Depth]
+PostProcessing=Depth

Source/Carla/Carla.h

@@ -14,7 +14,7 @@ DECLARE_LOG_CATEGORY_EXTERN(LogCarlaServer, Log, All);
 // Options to compile with extra debug options.
 #ifdef WITH_EDITOR
 // #define CARLA_ROAD_GENERATOR_PRINT_OUT /// @todo #1 Crashes in Linux.
-// #define CARLA_SERVER_CHECK_IMAGES
+// #define CARLA_SERVER_CHECK_IMAGES /// @todo #13 Uncomment and compile ;)
 #endif // WITH_EDITOR
 
 class FCarlaModule : public IModuleInterface

Source/Carla/Game/CameraDescription.h

@@ -0,0 +1,32 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "PostProcessEffect.h"
+#include "CameraDescription.generated.h"
+
+USTRUCT()
+struct FCameraDescription
+{
+  GENERATED_BODY()
+
+  /** X size in pixels of the captured image. */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  uint32 ImageSizeX = 720u;
+
+  /** Y size in pixels of the captured image. */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  uint32 ImageSizeY = 512u;
+
+  /** Position relative to the player. */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  FVector Position = {170.0f, 0.0f, 150.0f};
+
+  /** Rotation relative to the player. */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  FRotator Rotation = {0.0f, 0.0f, 0.0f};
+
+  /** Post-process effect to be applied to the captured image. */
+  UPROPERTY(Category = "Camera Description", EditDefaultsOnly)
+  EPostProcessEffect PostProcessEffect = EPostProcessEffect::SceneFinal;
+};

Source/Carla/Game/CapturedImage.h

@@ -0,0 +1,27 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "PostProcessEffect.h"
+#include "CapturedImage.generated.h"
+
+/// Bitmap and meta info of a scene capture.
+///
+/// The bitmap may be empty if the capture failed.
+USTRUCT()
+struct FCapturedImage
+{
+  GENERATED_BODY()
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 SizeX = 0u;
+
+  UPROPERTY(VisibleAnywhere)
+  uint32 SizeY = 0u;
+
+  UPROPERTY(VisibleAnywhere)
+  EPostProcessEffect PostProcessEffect = EPostProcessEffect::INVALID;
+
+  UPROPERTY(VisibleAnywhere)
+  TArray<FColor> BitMap;
+};

Source/Carla/Game/CarlaGameController.cpp

@@ -53,7 +53,7 @@ static void Set(std::vector<carla::Color> &cImage, const TArray<FColor> &BitMap)
 
 static bool CheckImage(
   const FString &Tag,
-  const ACarlaPlayerState::Image &Image,
+  const FCapturedImage &Image,
   const std::vector<carla::Color> &ImageReward,
   uint32 SizeX,
   uint32 SizeY)
@@ -82,7 +82,7 @@ static bool CheckImageValidity(const ACarlaPlayerState &Player, const carla::Rew
 // Wait for the scene init to be sent, return false if we need to restart the
 // server.
 /// @todo At the moment we just ignored what it is sent.
-static bool ReadSceneInit(carla::CarlaServer &Server, ESceneCaptureMode &CaptureMode)
+static bool ReadSceneInit(carla::CarlaServer &Server)
 {
   carla::Mode Mode;
   uint32 Scene;
@@ -92,13 +92,6 @@ static bool ReadSceneInit(carla::CarlaServer &Server, ESceneCaptureMode &Capture
     if (!Server.tryReadSceneInit(Mode, Scene, Success))
       return false;
   }
-  if (Mode == carla::Mode::MONO) {
-    CaptureMode = ESceneCaptureMode::Mono;
-  } else if (Mode == carla::Mode::STEREO) {
-    CaptureMode = ESceneCaptureMode::Stereo;
-  } else {
-    CaptureMode = ESceneCaptureMode::NoCapture;
-  }
   return true;
 }
 
@@ -160,19 +153,8 @@ static bool SendReward(
   Set(reward->collision_general, PlayerState.GetCollisionIntensityOther());
   Set(reward->intersect_other_lane, PlayerState.GetOtherLaneIntersectionFactor());
   Set(reward->intersect_offroad, PlayerState.GetOffRoadIntersectionFactor());
-  { // Add images.
+  for (const auto &Image : PlayerState.GetImages()) {
-    using CPS = ACarlaPlayerState;
+    /// @todo #13 Add images to reward.
-    auto &ImageRGB0 = PlayerState.GetImage(CPS::ImageRGB0);
-    if (ImageRGB0.BitMap.Num() > 0) {
-      // Do not add any camera if first is invalid, also assume all the images
-      // have the same size.
-      reward->image_width = ImageRGB0.SizeX;
-      reward->image_height = ImageRGB0.SizeY;
-      Set(reward->image_rgb_0, ImageRGB0.BitMap);
-      Set(reward->image_rgb_1, PlayerState.GetImage(CPS::ImageRGB1).BitMap);
-      Set(reward->image_depth_0, PlayerState.GetImage(CPS::ImageDepth0).BitMap);
-      Set(reward->image_depth_1, PlayerState.GetImage(CPS::ImageDepth1).BitMap);
-    }
   }
 #ifdef CARLA_SERVER_CHECK_IMAGES
   check(CheckImageValidity(PlayerState, *reward));
@@ -212,7 +194,7 @@ void CarlaGameController::Initialize(UCarlaSettings &CarlaSettings)
 {
   if (bServerNeedsRestart) {
     UE_LOG(LogCarlaServer, Log, TEXT("Initializing CarlaServer"));
-    if (Server->init(1u) && ReadSceneInit(*Server, CarlaSettings.SceneCaptureMode)) {
+    if (Server->init(1u) && ReadSceneInit(*Server)) {
       bServerNeedsRestart = false;
     } else {
       UE_LOG(LogCarlaServer, Warning, TEXT("Failed to initialize, server needs restart"));

Source/Carla/Game/CarlaGameMode.cpp

@@ -7,8 +7,6 @@
 #include "EngineUtils.h"
 #include "GameFramework/PlayerStart.h"
 
-#include "SceneCaptureCamera.h"
-
 #include "CarlaGameInstance.h"
 #include "CarlaGameState.h"
 #include "CarlaHUD.h"
@@ -89,85 +87,16 @@ void ACarlaGameMode::RegisterPlayer(AController &NewPlayer)
   AttachCaptureCamerasToPlayer(*PlayerController);
 }
 
-void ACarlaGameMode::RegisterCaptureCamera(
-    ASceneCaptureCamera &CaptureCamera,
-    AController &Player)
-{
-  AddTickPrerequisiteActor(&CaptureCamera);
-  ACarlaVehicleController *Vehicle = Cast<ACarlaVehicleController>(&Player);
-  if (Vehicle != nullptr) {
-    Vehicle->RegisterCaptureCamera(CaptureCamera);
-  } else {
-    UE_LOG(LogCarla, Warning, TEXT("Trying to register camera but player is not a ACarlaVehicleController"));
-  }
-}
-
-static ASceneCaptureCamera *SpawnAndAttachCamera(
-    AController &Player,
-    const FVector &RelativeLocation,
-    const FRotator &RelativeRotation,
-    uint32 ImageSizeX,
-    uint32 ImageSizeY,
-    EPostProcessEffect PostProcessEffect)
-{
-  auto Camera = Player.GetWorld()->SpawnActor<ASceneCaptureCamera>(RelativeLocation, RelativeRotation);
-  Camera->SetImageSize(ImageSizeX, ImageSizeY);
-  Camera->SetPostProcessEffect(PostProcessEffect);
-  Camera->AttachToActor(Player.GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
-  Camera->SetOwner(Player.GetPawn());
-  return Camera;
-}
-
 void ACarlaGameMode::AttachCaptureCamerasToPlayer(AController &Player)
 {
+  ACarlaVehicleController *Vehicle = Cast<ACarlaVehicleController>(&Player);
+  if (Vehicle == nullptr) {
+    UE_LOG(LogCarla, Warning, TEXT("Trying to add capture cameras but player is not a ACarlaVehicleController"));
+    return;
+  }
   auto &Settings = GameInstance->GetCarlaSettings();
-  if (Settings.SceneCaptureMode == ESceneCaptureMode::Mono) {
+  for (const auto &Item : Settings.CameraDescriptions) {
-    auto TheCamera =
+    Vehicle->AddSceneCaptureCamera(Item.Value);
-        SpawnAndAttachCamera(
-            Player,
-            Settings.Mono_CameraPosition,
-            Settings.Mono_CameraRotation,
-            Settings.Mono_ImageSizeX,
-            Settings.Mono_ImageSizeY,
-            EPostProcessEffect::SceneFinal);
-    RegisterCaptureCamera(*TheCamera, Player);
-  } else if (Settings.SceneCaptureMode == ESceneCaptureMode::Stereo) {
-    auto RGBCamera0 =
-        SpawnAndAttachCamera(
-            Player,
-            Settings.Stereo_Camera0Position,
-            Settings.Stereo_Camera0Rotation,
-            Settings.Stereo_ImageSizeX,
-            Settings.Stereo_ImageSizeY,
-            EPostProcessEffect::SceneFinal);
-    auto DepthCamera0 =
-        SpawnAndAttachCamera(
-            Player,
-            Settings.Stereo_Camera0Position,
-            Settings.Stereo_Camera0Rotation,
-            Settings.Stereo_ImageSizeX,
-            Settings.Stereo_ImageSizeY,
-            EPostProcessEffect::Depth);
-    auto RGBCamera1 =
-        SpawnAndAttachCamera(
-            Player,
-            Settings.Stereo_Camera1Position,
-            Settings.Stereo_Camera1Rotation,
-            Settings.Stereo_ImageSizeX,
-            Settings.Stereo_ImageSizeY,
-            EPostProcessEffect::SceneFinal);
-    auto DepthCamera1 =
-        SpawnAndAttachCamera(
-            Player,
-            Settings.Stereo_Camera1Position,
-            Settings.Stereo_Camera1Rotation,
-            Settings.Stereo_ImageSizeX,
-            Settings.Stereo_ImageSizeY,
-            EPostProcessEffect::Depth);
-    RegisterCaptureCamera(*RGBCamera0, Player);
-    RegisterCaptureCamera(*DepthCamera0, Player);
-    RegisterCaptureCamera(*RGBCamera1, Player);
-    RegisterCaptureCamera(*DepthCamera1, Player);
   }
 }
 

Source/Carla/Game/CarlaGameMode.h

@@ -33,8 +33,6 @@ private:
 
   void RegisterPlayer(AController &NewPlayer);
 
-  void RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera, AController &Player);
-
   void AttachCaptureCamerasToPlayer(AController &Player);
 
   /// Iterate all the APlayerStart present in the world and add the ones with

Source/Carla/Game/CarlaPlayerState.cpp

@@ -10,10 +10,7 @@ void ACarlaPlayerState::Reset()
   CollisionIntensityCars = 0.0f;
   CollisionIntensityPedestrians = 0.0f;
   CollisionIntensityOther = 0.0f;
-  // Invalidate images.
+  Images.Empty();
-  for (auto &image : Images) {
-    image = Image(); // Reset.
-  }
 }
 
 void ACarlaPlayerState::CopyProperties(APlayerState *PlayerState)

Source/Carla/Game/CarlaPlayerState.h

@@ -2,8 +2,8 @@
 
 #pragma once
 
-#include <array>
 #include "GameFramework/PlayerState.h"
+#include "CapturedImage.h"
 #include "CarlaPlayerState.generated.h"
 
 /// Current state of the player, updated every frame by ACarlaVehicleController.
@@ -20,19 +20,6 @@ class CARLA_API ACarlaPlayerState : public APlayerState
   // ===========================================================================
 public:
 
-  enum ImageTag {
-    ImageRGB0,
-    ImageRGB1,
-    ImageDepth0,
-    ImageDepth1,
-    NUMBER_OF_IMAGES
-  };
-
-  struct Image {
-    uint32 SizeX = 0u;
-    uint32 SizeY = 0u;
-    TArray<FColor> BitMap;
-  };
 
   // ===========================================================================
   // -- APlayerState -----------------------------------------------------------
@@ -48,64 +35,76 @@ public:
   // ===========================================================================
 public:
 
+  UFUNCTION()
   int32 GetTimeStamp() const
   {
     return TimeStamp;
   }
 
+  UFUNCTION()
   const FVector &GetLocation() const
   {
     return Location;
   }
 
+  UFUNCTION()
   const FVector &GetOrientation() const
   {
     return Orientation;
   }
 
+  UFUNCTION()
   const FVector &GetAcceleration() const
   {
     return Acceleration;
   }
 
+  UFUNCTION()
   float GetForwardSpeed() const
   {
     return ForwardSpeed;
   }
 
+  UFUNCTION()
   int32 GetCurrentGear() const
   {
     return CurrentGear;
   }
 
+  UFUNCTION()
   float GetCollisionIntensityCars() const
   {
     return CollisionIntensityCars;
   }
 
+  UFUNCTION()
   float GetCollisionIntensityPedestrians() const
   {
     return CollisionIntensityPedestrians;
   }
 
+  UFUNCTION()
   float GetCollisionIntensityOther() const
   {
     return CollisionIntensityOther;
   }
 
+  UFUNCTION()
   float GetOtherLaneIntersectionFactor() const
   {
     return OtherLaneIntersectionFactor;
   }
 
+  UFUNCTION()
   float GetOffRoadIntersectionFactor() const
   {
     return OffRoadIntersectionFactor;
   }
 
-  const Image &GetImage(ImageTag Tag) const
+  UFUNCTION()
+  const TArray<FCapturedImage> &GetImages() const
   {
-    return Images[Tag];
+    return Images;
   }
 
   // ===========================================================================
@@ -127,27 +126,39 @@ private:
   // If you add another variable here, don't forget to copy it inside
   // CopyProperties if necessary.
 
+  UPROPERTY(VisibleAnywhere)
   int32 TimeStamp;
 
+  UPROPERTY(VisibleAnywhere)
   FVector Location;
 
+  UPROPERTY(VisibleAnywhere)
   FVector Orientation;
 
+  UPROPERTY(VisibleAnywhere)
   FVector Acceleration;
 
+  UPROPERTY(VisibleAnywhere)
   int32 CurrentGear;
 
+  UPROPERTY(VisibleAnywhere)
   float ForwardSpeed = 0.0f;
 
+  UPROPERTY(VisibleAnywhere)
   float CollisionIntensityCars = 0.0f;
 
+  UPROPERTY(VisibleAnywhere)
   float CollisionIntensityPedestrians = 0.0f;
 
+  UPROPERTY(VisibleAnywhere)
   float CollisionIntensityOther = 0.0f;
 
+  UPROPERTY(VisibleAnywhere)
   float OtherLaneIntersectionFactor = 0.0f;
 
+  UPROPERTY(VisibleAnywhere)
   float OffRoadIntersectionFactor = 0.0f;
 
-  std::array<Image, NUMBER_OF_IMAGES> Images;
+  UPROPERTY(VisibleAnywhere)
+  TArray<FCapturedImage> Images;
 };

Source/Carla/Game/CarlaSettings.cpp

@@ -11,8 +11,6 @@
 // INI file sections.
 #define S_CARLA_SERVER                 TEXT("CARLA/Server")
 #define S_CARLA_SCENECAPTURE           TEXT("CARLA/SceneCapture")
-#define S_CARLA_SCENECAPTURE_MONO      TEXT("CARLA/SceneCapture/Mono")
-#define S_CARLA_SCENECAPTURE_STEREO    TEXT("CARLA/SceneCapture/Stereo")
 
 template <typename TARGET, typename SOURCE>
 static void SafeCastTo(SOURCE source, TARGET &target)
@@ -62,16 +60,19 @@ public:
     }
   }
 
-  void GetSceneCaptureMode(const TCHAR* Section, const TCHAR* Key, ESceneCaptureMode &Target) const
+  void GetPostProcessEffect(const TCHAR* Section, const TCHAR* Key, EPostProcessEffect &Target) const
   {
-    FString ModeString;
+    FString ValueString;
-    if (ConfigFile.GetString(Section, Key, ModeString)) {
+    if (ConfigFile.GetString(Section, Key, ValueString)) {
-      if (ModeString == "Stereo") {
+      if (ValueString == "None") {
-        Target = ESceneCaptureMode::Stereo;
+        Target = EPostProcessEffect::None;
-      } else if (ModeString == "Mono") {
+      } else if (ValueString == "SceneFinal") {
-        Target = ESceneCaptureMode::Mono;
+        Target = EPostProcessEffect::SceneFinal;
-      } else if (ModeString == "NoCapture") {
+      } else if (ValueString == "Depth") {
-        Target = ESceneCaptureMode::NoCapture;
+        Target = EPostProcessEffect::Depth;
+      } else {
+        UE_LOG(LogCarla, Error, TEXT("Invalid post-processing \"%s\" in INI file"), *ValueString);
+        Target = EPostProcessEffect::INVALID;
       }
     }
   }
@@ -85,6 +86,22 @@ private:
 // -- Other static methods -----------------------------------------------------
 // =============================================================================
 
+static void GetCameraDescription(
+    const INIFile &ConfigFile,
+    const TCHAR* Section,
+    FCameraDescription &Camera)
+{
+  ConfigFile.GetInt(Section, TEXT("ImageSizeX"), Camera.ImageSizeX);
+  ConfigFile.GetInt(Section, TEXT("ImageSizeY"), Camera.ImageSizeY);
+  ConfigFile.GetInt(Section, TEXT("CameraPositionX"), Camera.Position.X);
+  ConfigFile.GetInt(Section, TEXT("CameraPositionY"), Camera.Position.Y);
+  ConfigFile.GetInt(Section, TEXT("CameraPositionZ"), Camera.Position.Z);
+  ConfigFile.GetInt(Section, TEXT("CameraRotationPitch"), Camera.Rotation.Pitch);
+  ConfigFile.GetInt(Section, TEXT("CameraRotationRoll"), Camera.Rotation.Roll);
+  ConfigFile.GetInt(Section, TEXT("CameraRotationYaw"), Camera.Rotation.Yaw);
+  ConfigFile.GetPostProcessEffect(Section, TEXT("PostProcessing"), Camera.PostProcessEffect);
+}
+
 static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settings)
 {
   UE_LOG(LogCarla, Log, TEXT("Loading settings from \"%s\""), *FileName);
@@ -95,35 +112,24 @@ static void LoadSettingsFromFile(const FString &FileName, UCarlaSettings &Settin
   ConfigFile.GetInt(S_CARLA_SERVER, TEXT("WritePort"), Settings.WritePort);
   ConfigFile.GetInt(S_CARLA_SERVER, TEXT("ReadPort"), Settings.ReadPort);
   // SceneCapture.
-  ConfigFile.GetSceneCaptureMode(S_CARLA_SCENECAPTURE, TEXT("Mode"), Settings.SceneCaptureMode);
+  FString Cameras;
-  // SceneCapture - Mono.
+  ConfigFile.GetString(S_CARLA_SCENECAPTURE, TEXT("Cameras"), Cameras);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
+  TArray<FString> CameraNames;
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
+  Cameras.ParseIntoArray(CameraNames, TEXT(","), true);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeX"), Settings.Mono_ImageSizeX);
+  for (FString &Name : CameraNames) {
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("ImageSizeY"), Settings.Mono_ImageSizeY);
+    FCameraDescription &Camera = Settings.CameraDescriptions.FindOrAdd(Name);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionX"), Settings.Mono_CameraPosition.X);
+    GetCameraDescription(ConfigFile, S_CARLA_SCENECAPTURE, Camera);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionY"), Settings.Mono_CameraPosition.Y);
+
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraPositionZ"), Settings.Mono_CameraPosition.Z);
+    TArray<FString> SubSections;
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationPitch"), Settings.Mono_CameraRotation.Pitch);
+    Name.ParseIntoArray(SubSections, TEXT("/"), true);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationRoll"), Settings.Mono_CameraRotation.Roll);
+    check(SubSections.Num() > 0);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_MONO, TEXT("CameraRotationYaw"), Settings.Mono_CameraRotation.Yaw);
+    FString Section = S_CARLA_SCENECAPTURE;
-  // SceneCapture - Stereo.
+    for (FString &SubSection : SubSections) {
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
+      Section += TEXT("/");
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
+      Section += SubSection;
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeX"), Settings.Stereo_ImageSizeX);
+      GetCameraDescription(ConfigFile, *Section, Camera);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("ImageSizeY"), Settings.Stereo_ImageSizeY);
+    }
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionX"), Settings.Stereo_Camera0Position.X);
+  }
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionY"), Settings.Stereo_Camera0Position.Y);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0PositionZ"), Settings.Stereo_Camera0Position.Z);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionX"), Settings.Stereo_Camera1Position.X);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionY"), Settings.Stereo_Camera1Position.Y);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1PositionZ"), Settings.Stereo_Camera1Position.Z);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationPitch"), Settings.Stereo_Camera0Rotation.Pitch);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationRoll"), Settings.Stereo_Camera0Rotation.Roll);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera0RotationYaw"), Settings.Stereo_Camera0Rotation.Yaw);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationPitch"), Settings.Stereo_Camera1Rotation.Pitch);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationRoll"), Settings.Stereo_Camera1Rotation.Roll);
-  ConfigFile.GetInt(S_CARLA_SCENECAPTURE_STEREO, TEXT("Camera1RotationYaw"), Settings.Stereo_Camera1Rotation.Yaw);
 }
 
 static bool GetSettingsFileName(FString &Value)
@@ -167,14 +173,6 @@ void UCarlaSettings::LoadSettings()
 
 void UCarlaSettings::LogSettings()
 {
-  auto ModeAsString = [](ESceneCaptureMode Mode) {
-    switch (Mode) {
-      case ESceneCaptureMode::Mono:      return TEXT("Mono");
-      case ESceneCaptureMode::Stereo:    return TEXT("Stereo");
-      case ESceneCaptureMode::NoCapture: return TEXT("NoCapture");
-      default:                           return TEXT("INVALID");
-    };
-  };
   UE_LOG(LogCarla, Log, TEXT("== CARLA Settings =============================================================="));
   UE_LOG(LogCarla, Log, TEXT("Settings file: %s"), *CurrentFileName);
   UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SERVER);
@@ -183,21 +181,16 @@ void UCarlaSettings::LogSettings()
   UE_LOG(LogCarla, Log, TEXT("Write Port = %d"), WritePort);
   UE_LOG(LogCarla, Log, TEXT("Read Port = %d"), ReadPort);
   UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE);
-  UE_LOG(LogCarla, Log, TEXT("Mode = %s"), ModeAsString(SceneCaptureMode));
+  UE_LOG(LogCarla, Log, TEXT("Added %d cameras."), CameraDescriptions.Num());
-  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_MONO);
+  for (auto &Item : CameraDescriptions) {
-  UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Mono_ImageSizeX, Mono_ImageSizeY);
+    UE_LOG(LogCarla, Log, TEXT("[%s/%s]"), S_CARLA_SCENECAPTURE, *Item.Key);
-  UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Mono_CameraPosition.ToString());
+    UE_LOG(LogCarla, Log, TEXT("Image Size = %dx%d"), Item.Value.ImageSizeX, Item.Value.ImageSizeY);
-  UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Mono_CameraRotation.ToString());
+    UE_LOG(LogCarla, Log, TEXT("Camera Position = (%s)"), *Item.Value.Position.ToString());
-  UE_LOG(LogCarla, Log, TEXT("[%s]"), S_CARLA_SCENECAPTURE_STEREO);
+    UE_LOG(LogCarla, Log, TEXT("Camera Rotation = (%s)"), *Item.Value.Rotation.ToString());
-  UE_LOG(LogCarla, Log, TEXT("ImageSize = %dx%d"), Stereo_ImageSizeX, Stereo_ImageSizeY);
+    UE_LOG(LogCarla, Log, TEXT("Post-Processing = %s"), *PostProcessEffect::ToString(Item.Value.PostProcessEffect));
-  UE_LOG(LogCarla, Log, TEXT("Camera0 Position = (%s)"), *Stereo_Camera0Position.ToString());
+  }
-  UE_LOG(LogCarla, Log, TEXT("Camera0 Rotation = (%s)"), *Stereo_Camera0Rotation.ToString());
-  UE_LOG(LogCarla, Log, TEXT("Camera1 Position = (%s)"), *Stereo_Camera1Position.ToString());
-  UE_LOG(LogCarla, Log, TEXT("Camera1 Rotation = (%s)"), *Stereo_Camera1Rotation.ToString());
   UE_LOG(LogCarla, Log, TEXT("================================================================================"));
 }
 
 #undef S_CARLA_SERVER
 #undef S_CARLA_SCENECAPTURE
-#undef S_CARLA_SCENECAPTURE_MONO
-#undef S_CARLA_SCENECAPTURE_STEREO

Source/Carla/Game/CarlaSettings.h

@@ -3,16 +3,9 @@
 #pragma once
 
 #include "UObject/NoExportTypes.h"
+#include "CameraDescription.h"
 #include "CarlaSettings.generated.h"
 
-UENUM(BlueprintType)
-enum class ESceneCaptureMode : uint8
-{
-  Mono       UMETA(DisplayName = "Mono: Single RGB capture"),
-  Stereo     UMETA(DisplayName = "Stereo: Stereo RGB captures and Depth maps"),
-  NoCapture  UMETA(DisplayName = "No capture")
-};
-
 /// Global settings for CARLA.
 UCLASS()
 class CARLA_API UCarlaSettings : public UObject
@@ -62,63 +55,9 @@ public:
   /// @{
 public:
 
-  /** Controls the number and type of scene capture cameras that are added to the player. */
+  /** Descriptions of the cameras to be attached to the player. */
   UPROPERTY(Category = "Scene Capture", EditDefaultsOnly)
-  ESceneCaptureMode SceneCaptureMode = ESceneCaptureMode::Mono;
+  TMap<FString, FCameraDescription> CameraDescriptions;
-
-  /// @}
-  // ===========================================================================
-  /// @name Scene Capture - Mono
-  // ===========================================================================
-  /// @{
-public:
-
-  /** X size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
-  uint32 Mono_ImageSizeX = 720u;
-
-  /** Y size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
-  uint32 Mono_ImageSizeY = 512u;
-
-  /** Camera position relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
-  FVector Mono_CameraPosition = {170.0f, 0.0f, 150.0f};
-
-  /** Camera rotation relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Mono", EditDefaultsOnly)
-  FRotator Mono_CameraRotation = {0.0f, 0.0f, 0.0f};
-
-  /// @}
-  // ===========================================================================
-  /// @name Scene Capture - Stereo
-  // ===========================================================================
-  /// @{
-public:
-
-  /** X size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  uint32 Stereo_ImageSizeX = 720u;
-
-  /** Y size in pixels of the captured image. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  uint32 Stereo_ImageSizeY = 512u;
-
-  /** Camera0 position relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  FVector Stereo_Camera0Position = {170.0f, 30.0f, 150.0f};
-
-  /** Camera0 rotation relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  FRotator Stereo_Camera0Rotation = {0.0f, 0.0f, 0.0f};
-
-  /** Camera1 position relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  FVector Stereo_Camera1Position = {170.0f, -30.0f, 150.0f};
-
-  /** Camera1 rotation relative to the car. */
-  UPROPERTY(Category = "Scene Capture|Stereo", EditDefaultsOnly)
-  FRotator Stereo_Camera1Rotation = {0.0f, 0.0f, 0.0f};
 
   /// @}
 };

Source/Carla/Game/CarlaVehicleController.cpp

@@ -6,6 +6,7 @@
 #include "Camera/CameraComponent.h"
 #include "GameFramework/Pawn.h"
 #include "GameFramework/SpringArmComponent.h"
+#include "SceneCaptureCamera.h"
 #include "WheeledVehicle.h"
 #include "WheeledVehicleMovementComponent.h"
 
@@ -93,16 +94,19 @@ void ACarlaVehicleController::Possess(APawn *aPawn)
   }
 }
 
-static void ReadCameraPixels(
+void ACarlaVehicleController::BeginPlay()
-    const ASceneCaptureCamera *Camera,
-    ACarlaPlayerState::Image &Image)
 {
-  if (Camera != nullptr) {
+  CarlaPlayerState->Images.Empty();
-    if (Camera->ReadPixels(Image.BitMap)) {
+  const auto NumberOfCameras = SceneCaptureCameras.Num();
+  if (NumberOfCameras > 0) {
+    CarlaPlayerState->Images.AddDefaulted(NumberOfCameras);
+    for (auto i = 0; i < NumberOfCameras; ++i) {
+      auto *Camera = SceneCaptureCameras[i];
+      check(Camera != nullptr);
+      auto &Image = CarlaPlayerState->Images[i];
       Image.SizeX = Camera->GetImageSizeX();
       Image.SizeY = Camera->GetImageSizeY();
-    } else {
+      Image.PostProcessEffect = Camera->GetPostProcessEffect();
-      Image.BitMap.Empty(); // Clears the array.
     }
   }
 }
@@ -120,12 +124,15 @@ void ACarlaVehicleController::Tick(float DeltaTime)
     const FVector CurrentSpeed = CarlaPlayerState->ForwardSpeed * CarlaPlayerState->Orientation;
     CarlaPlayerState->Acceleration = (CurrentSpeed - PreviousSpeed) / DeltaTime;
     CarlaPlayerState->CurrentGear = GetVehicleCurrentGear();
-    /// @todo Set intersection factors.
+    /// @todo #15 Set intersection factors.
-    using CPS = ACarlaPlayerState;
+    const auto NumberOfCameras = SceneCaptureCameras.Num();
-    ReadCameraPixels(RGBCameras[0u], CarlaPlayerState->Images[CPS::ImageRGB0]);
+    check(NumberOfCameras == CarlaPlayerState->Images.Num());
-    ReadCameraPixels(RGBCameras[1u], CarlaPlayerState->Images[CPS::ImageRGB1]);
+    for (auto i = 0; i < NumberOfCameras; ++i) {
-    ReadCameraPixels(DepthCameras[0u], CarlaPlayerState->Images[CPS::ImageDepth0]);
+      auto &Image = CarlaPlayerState->Images[i];
-    ReadCameraPixels(DepthCameras[1u], CarlaPlayerState->Images[CPS::ImageDepth1]);
+      if (!SceneCaptureCameras[i]->ReadPixels(Image.BitMap)) {
+        Image.BitMap.Empty();
+      }
+    }
   }
 }
 
@@ -166,30 +173,20 @@ int32 ACarlaVehicleController::GetVehicleCurrentGear() const
 // -- Scene capture ------------------------------------------------------------
 // =============================================================================
 
-void ACarlaVehicleController::RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera)
+void ACarlaVehicleController::AddSceneCaptureCamera(const FCameraDescription &Description)
 {
-  AddTickPrerequisiteActor(&CaptureCamera);
+  auto Camera = GetWorld()->SpawnActor<ASceneCaptureCamera>(Description.Position, Description.Rotation);
-  const auto Effect = CaptureCamera.GetPostProcessEffect();
+  Camera->Set(Description);
-  auto &Cameras = (Effect == EPostProcessEffect::Depth ? DepthCameras : RGBCameras);
+  Camera->AttachToActor(GetPawn(), FAttachmentTransformRules::KeepRelativeTransform);
-
+  Camera->SetOwner(GetPawn());
-  for (auto i = 0u; i < Cameras.size(); ++i) {
+  AddTickPrerequisiteActor(Camera);
-    if (Cameras[i] == nullptr) {
+  SceneCaptureCameras.Add(Camera);
-      Cameras[i] = &CaptureCamera;
-      UE_LOG(
-          LogCarla,
-          Log,
-          TEXT("Registered capture camera %d with postprocess \"%s\""),
-          i,
-          *CaptureCamera.GetPostProcessEffectAsString());
-      return;
-    }
-  }
   UE_LOG(
       LogCarla,
-      Warning,
+      Log,
-      TEXT("Attempting to register a capture camera of type \"%d\" but already have %d, captures from this camera won't be sent"),
+      TEXT("Created capture camera %d with postprocess \"%s\""),
-      *CaptureCamera.GetPostProcessEffectAsString(),
+      SceneCaptureCameras.Num() - 1,
-      Cameras.size());
+      *PostProcessEffect::ToString(Camera->GetPostProcessEffect()));
 }
 
 // =============================================================================

Source/Carla/Game/CarlaVehicleController.h

@@ -11,6 +11,7 @@ class ASceneCaptureCamera;
 class UCameraComponent;
 class USpringArmComponent;
 class UWheeledVehicleMovementComponent;
+struct FCameraDescription;
 
 /**
  *
@@ -41,6 +42,8 @@ public:
 
   virtual void Possess(APawn *aPawn) override;
 
+  virtual void BeginPlay() override;
+
   virtual void Tick(float DeltaTime) override;
 
   virtual void CalcCamera(float DeltaTime, FMinimalViewInfo& OutResult) override;
@@ -80,7 +83,7 @@ public:
   /// @{
 public:
 
-  void RegisterCaptureCamera(ASceneCaptureCamera &CaptureCamera);
+  void AddSceneCaptureCamera(const FCameraDescription &CameraDescription);
 
   /// @}
   // ===========================================================================
@@ -175,6 +178,9 @@ private:
   UPROPERTY()
   UWheeledVehicleMovementComponent *MovementComponent;
 
+  UPROPERTY()
+  TArray<ASceneCaptureCamera *> SceneCaptureCameras;
+
   // Cast for quick access to the custom player state.
   UPROPERTY()
   ACarlaPlayerState *CarlaPlayerState;
@@ -182,10 +188,4 @@ private:
   // Cast for quick access to the custom HUD.
   UPROPERTY()
   ACarlaHUD *CarlaHUD;
-
-  using CaptureCameraArray = std::array<const ASceneCaptureCamera *, 2u>;
-
-  CaptureCameraArray RGBCameras;
-
-  CaptureCameraArray DepthCameras;
 };

Source/Carla/Game/PostProcessEffect.cpp

@@ -0,0 +1,13 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#include "Carla.h"
+#include "PostProcessEffect.h"
+#include "Package.h"
+
+FString PostProcessEffect::ToString(EPostProcessEffect PostProcessEffect)
+{
+  const UEnum* ptr = FindObject<UEnum>(ANY_PACKAGE, TEXT("EPostProcessEffect"), true);
+  if(!ptr)
+    return FString("Invalid");
+  return ptr->GetEnumName(static_cast<int32>(PostProcessEffect));
+}

Source/Carla/Game/PostProcessEffect.h

@@ -0,0 +1,23 @@
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
+
+#pragma once
+
+#include "PostProcessEffect.generated.h"
+
+UENUM(BlueprintType)
+enum class EPostProcessEffect : uint8
+{
+  None            UMETA(DisplayName = "RGB without any post-processing"),
+  SceneFinal      UMETA(DisplayName = "RGB with post-processing present at the scene"),
+  Depth           UMETA(DisplayName = "Depth Map"),
+
+  SIZE            UMETA(Hidden),
+  INVALID         UMETA(Hidden),
+};
+
+/// Helper class for working with EPostProcessEffect.
+class CARLA_API PostProcessEffect {
+public:
+
+  static FString ToString(EPostProcessEffect PostProcessEffect);
+};

Source/Carla/SceneCaptureCamera.cpp

@@ -1,4 +1,4 @@
-// Fill out your copyright notice in the Description page of Project Settings.
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
 
 #include "Carla.h"
 #include "SceneCaptureCamera.h"
@@ -100,12 +100,10 @@ void ASceneCaptureCamera::SetPostProcessEffect(EPostProcessEffect otherPostProce
   PostProcessEffect = otherPostProcessEffect;
 }
 
-FString ASceneCaptureCamera::GetPostProcessEffectAsString() const
+void ASceneCaptureCamera::Set(const FCameraDescription &CameraDescription)
 {
-  const UEnum* ptr = FindObject<UEnum>(ANY_PACKAGE, TEXT("EPostProcessEffect"), true);
+  SetImageSize(CameraDescription.ImageSizeX, CameraDescription.ImageSizeY);
-  if(!ptr)
+  SetPostProcessEffect(CameraDescription.PostProcessEffect);
-    return FString("Invalid");
-  return ptr->GetEnumName(static_cast<int32>(PostProcessEffect));
 }
 
 bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const

Source/Carla/SceneCaptureCamera.h

@@ -1,14 +1,10 @@
-// Fill out your copyright notice in the Description page of Project Settings.
+// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
-
-/**
- * Own SceneCapture, re-implementing some of the methods since ASceneCapture
- * cannot be subclassed.
- */
 
 #pragma once
 
 #include "GameFramework/Actor.h"
 #include "StaticMeshResources.h"
+#include "Game/CameraDescription.h"
 #include "SceneCaptureCamera.generated.h"
 
 class UDrawFrustumComponent;
@@ -16,16 +12,8 @@ class USceneCaptureComponent2D;
 class UStaticMeshComponent;
 class UTextureRenderTarget2D;
 
-UENUM(BlueprintType)
+/// Own SceneCapture, re-implementing some of the methods since ASceneCapture
-enum class EPostProcessEffect : uint8
+/// cannot be subclassed.
-{
-  None            UMETA(DisplayName = "RGB without any post-processing"),
-  SceneFinal      UMETA(DisplayName = "RGB with post-processing present at the scene"),
-  Depth           UMETA(DisplayName = "Depth Map"),
-
-  SIZE            UMETA(Hidden)
-};
-
 UCLASS(hidecategories=(Collision, Attachment, Actor))
 class CARLA_API ASceneCaptureCamera : public AActor
 {
@@ -62,7 +50,7 @@ public:
 
   void SetPostProcessEffect(EPostProcessEffect PostProcessEffect);
 
-  FString GetPostProcessEffectAsString() const;
+  void Set(const FCameraDescription &CameraDescription);
 
   bool ReadPixels(TArray<FColor> &BitMap) const;