Now ScreenCaptureCamera read pixels in render queue.

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -23,6 +23,8 @@ public class Carla : ModuleRules
       new string[]
       {
         "Core",
+        "RenderCore",
+        "RHI"
         // ... add other public dependencies that you statically link with here ...
       }
       );

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/CityMapGenerator.cpp

@@ -291,21 +291,16 @@ void ACityMapGenerator::GenerateRoadMap()
       // Do the ray tracing.
       FHitResult Hit;
       if (LineTrace(World, Start, End, Hit)) {
-        auto InstancedStaticMeshComponent = Cast<UInstancedStaticMeshComponent>(Hit.Component.Get());
+        auto StaticMeshComponent = Cast<UStaticMeshComponent>(Hit.Component.Get());
-        if (InstancedStaticMeshComponent == nullptr) {
+        if (StaticMeshComponent == nullptr) {
           UE_LOG(LogCarla, Error, TEXT("Road component is not UInstancedStaticMeshComponent"));
         } else {
-          FTransform InstanceTransform;
+          RoadMap->SetPixelAt(
-          if (!InstancedStaticMeshComponent->GetInstanceTransform(Hit.Item, InstanceTransform, true)) {
+            PixelX,
-            UE_LOG(LogCarla, Error, TEXT("Failed to get instance's transform"));
+            PixelY,
-          } else {
+            GetTag(*StaticMeshComponent->GetStaticMesh()),
-            RoadMap->SetPixelAt(
+            StaticMeshComponent->GetOwner()->GetTransform(),
-                PixelX,
+            bLeftHandTraffic);
-                PixelY,
-                GetTag(*InstancedStaticMeshComponent->GetStaticMesh()),
-                InstanceTransform,
-                bLeftHandTraffic);
-          }
         }
       }
     }

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

@@ -11,6 +11,8 @@
 
 #include "Settings/CarlaSettings.h"
 #include "CarlaServer.h"
+#include "RenderingThread.h"
+
 
 using Errc = CarlaServer::ErrorCode;
 
@@ -115,16 +117,27 @@ void CarlaGameController::Tick(float DeltaSeconds)
   // Send measurements.
   {
     check(GameState != nullptr);
-    if (Errc::Error == Server->SendMeasurements(
+  	ENQUEUE_UNIQUE_RENDER_COMMAND_FOURPARAMETER( /** @TODO: move to the screencapturecamera */
+	  FSendMeasurements,
+	  CarlaServer*,Server,Server.Get(), /** @TODO: move unique pointer lambda reference */
+	  const ACarlaGameState*, GameState, GameState,
+	  const ACarlaPlayerState&, PlayerState,Player->GetPlayerState(),
+	  //,ParamType4,ParamName4,ParamValue4,Code
+	  bool,bSendNonPlayerAgentsInfo,CarlaSettings->bSendNonPlayerAgentsInfo,
+	  {
+	  	if (Errc::Error == Server->SendMeasurements(
             *GameState,
-            Player->GetPlayerState(),
+            PlayerState,
-            CarlaSettings->bSendNonPlayerAgentsInfo)) {
+            bSendNonPlayerAgentsInfo))
-      Server = nullptr;
+		{
-      return;
+			Server = nullptr;
-    }
+		}
+      });
+      
   }
 
   // Read control, block if the settings say so.
+  if(Server!=nullptr)
   {
     const bool bShouldBlock = CarlaSettings->bSynchronousMode;
     if (Errc::Error == Server->ReadControl(*Player, bShouldBlock)) {

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

@@ -14,6 +14,11 @@
 #include "GameFramework/Pawn.h"
 #include "WheeledVehicle.h"
 #include "WheeledVehicleMovementComponent.h"
+#include "CarlaPlayerState.h"
+#include "CarlaWheeledVehicle.h"
+#include "CarlaHUD.h"
+#include "MapGen/RoadMap.h"
+#include "Settings/CameraPostProcessParameters.h"
 
 // =============================================================================
 // -- Constructor and destructor -----------------------------------------------
@@ -99,11 +104,18 @@ void ACarlaVehicleController::Tick(float DeltaTime)
     IntersectPlayerWithRoadMap();
     const auto NumberOfCameras = SceneCaptureCameras.Num();
     check(NumberOfCameras == CarlaPlayerState->Images.Num());
-    for (auto i = 0; i < NumberOfCameras; ++i) {
+	  
-      auto &Image = CarlaPlayerState->Images[i];
+    for (auto i = 0; i < NumberOfCameras; ++i) 
-      if (!SceneCaptureCameras[i]->ReadPixels(Image.BitMap)) {
+	{
-        Image.BitMap.Empty();
+      FCapturedImage *Image = &CarlaPlayerState->Images[i];
-      }
+	  ASceneCaptureCamera *Camera = SceneCaptureCameras[i];
+	  ENQUEUE_UNIQUE_RENDER_COMMAND_TWOPARAMETER(
+        FReadFromTexture,
+        FCapturedImage*, Image, Image,
+         ASceneCaptureCamera *, Camera, Camera,
+        {
+            Camera->WritePixels(Image->BitMap);			
+        });
     }
   }
 }

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaVehicleController.h

@@ -9,6 +9,7 @@
 #include "WheeledVehicleController.h"
 #include "CarlaVehicleController.generated.h"
 
+struct FCameraPostProcessParameters;
 class ACarlaHUD;
 class ACarlaPlayerState;
 class ASceneCaptureCamera;

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

@@ -15,8 +15,7 @@
 #include "HighResScreenshot.h"
 #include "Materials/Material.h"
 #include "Paths.h"
-#include "StaticMeshResources.h"
+
-#include "TextureResource.h"
 
 
 static constexpr auto DEPTH_MAT_PATH =
@@ -198,7 +197,7 @@ bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
 	  UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
 	  return false;
   }
-  FTextureRenderTargetResource* RTResource = CaptureRenderTarget->GameThread_GetRenderTargetResource();
+  FTextureRenderTargetResource* RTResource = CaptureRenderTarget->GetRenderTargetResource(); //  CaptureRenderTarget->GameThread_GetRenderTargetResource();
   if (RTResource == nullptr) {
     UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
     return false;
@@ -208,6 +207,74 @@ bool ASceneCaptureCamera::ReadPixels(TArray<FColor> &BitMap) const
   return RTResource->ReadPixels(BitMap, ReadPixelFlags);
 }
 
+void ASceneCaptureCamera::WritePixels(TArray<FColor>& RawData)
+ {
+  check(IsInRenderingThread());
+  if(!CaptureRenderTarget)
+  {
+  	UE_LOG(LogCarla, Error, TEXT("SceneCaptureCamera: Missing render target"));
+  	return ;
+  }
+  FRHITexture2D *texture = CaptureRenderTarget->GetRenderTargetResource()->GetRenderTargetTexture();
+  
+  uint32 width = texture->GetSizeX();
+  uint32 height = texture->GetSizeY();
+  uint32 stride;
+  uint8 *src = reinterpret_cast<uint8*>(RHILockTexture2D(texture, 0, RLM_ReadOnly, stride, false));
+  const uint32 bufferSize = stride * height;
+	//Alternative Method 0: deeplearning
+  /*void *buffer = FMemory::Malloc(bufferSize, 4);
+  if(!buffer)
+  {
+	UE_LOG(LogCarla, Display, TEXT("Error allocating memory"));
+	RHIUnlockTexture2D(texture, 0, false);
+	return ;	
+  }
+  //FMemory::BigBlockMemcpy(buffer, src, bufferSize);*/
+  RawData.Empty(width*height);
+  for(unsigned y = 0; y < height; ++y)
+  {
+    for(unsigned x = 0; x < width; ++x)
+	{
+		//RGBA -> 
+		RawData.Add(FColor(src[2],src[1],src[0],src[3]));
+		src += 4;
+	}
+  }
+  
+  RHIUnlockTexture2D(texture, 0, false);
+	//Alternative Method 1
+   /*FColor* RHIData = reinterpret_cast<FColor*>(RHILockTexture2D(TextureRHI, 0, RLM_ReadOnly, stride, false, false));
+	 if(!RHIData) {
+		 UE_LOG(LogCarla,Display,TEXT("ASceneCaptureCamera::WritePixels : RHIData is null"));
+	 	 return;
+	 }
+	 RawData.Append(RHIData,Width*Height);*/
+	//Alternative Method 2
+  /*uint8* OriginBuffer = reinterpret_cast<uint8*>(RHILockTexture2D(TextureRHI, 0, RLM_ReadOnly, stride, false,false));
+	if(OriginBuffer)
+	{
+	  for (int32 y = 0; y < Height; y++)
+      {
+         uint8* OriginPtr = &OriginBuffer[(Height - 1 - y) * stride];
+         for (int32 x = 0; x < Width; x++)
+         {
+			 RawData[(Height - 1 - y) * Width] = FColor(*OriginPtr++,*OriginPtr++,*OriginPtr++,*OriginPtr++);
+         }
+      }
+	}
+	*/
+	//Alternative Method 3
+  /*
+	FRHITexture2D* Texture2D = TextureRHI->GetTexture2D();
+	uint8* TextureBuffer = (uint8*)RHILockTexture2D(Texture2D, 0, RLM_ReadOnly, stride, false, false);
+	FMemory::Memcpy( RawData.GetData(), TextureBuffer, stride + (Width*Height*4) );
+	*/
+	//End of Alternative methods lock
+  //RHIUnlockTexture2D(TextureRHI, 0, false, false);
+}
+
+
 void ASceneCaptureCamera::UpdateDrawFrustum()
 {
   if(DrawFrustum && CaptureComponent2D)

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

@@ -65,6 +65,7 @@ public:
       const FCameraPostProcessParameters &OverridePostProcessParameters);
 
   bool ReadPixels(TArray<FColor> &BitMap) const;
+  void WritePixels(TArray<FColor>& RawData);
 
 private: