RRROS2CameraComponent.h

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#pragma once
 
 
 
#include "Camera/CameraComponent.h"
 
#include "Components/SceneCaptureComponent2D.h"
 
#include "CoreMinimal.h"
 
#include "Engine/TextureRenderTarget2D.h"
 
 
 
// rclUE
 
#include <Msgs/ROS2Img.h>
 
 
 
// RapyutaSimulationPlugins
 
#include "Core/RRConversionUtils.h"
 
#include "RRROS2BaseSensorComponent.h"
 
 
 
#include "RRROS2CameraComponent.generated.h"
 
 
 
struct FRenderRequest
 
{
 
    TArray<FColor> Image;
 
    FRenderCommandFence RenderFence;
 
};
 
 
 
 
enum class EROS2CameraType : uint8
 
{
 
    RGB , 
 
    DEPTH , 
 
};
 
 
 
class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSensorComponent
 
{
 
 
 
public:
 
    URRROS2CameraComponent();
 
 
 
    virtual void PreInitializePublisher(UROS2NodeComponent* InROS2Node, const FString& InTopicName) override;
 
 
 
    virtual void SensorUpdate() override;
 
 
 
protected:
 
    void CaptureNonBlocking();
 
 
 
 
    TQueue<FRenderRequest*> RenderRequestQueue;
 
 
 
 
    FROSImg Data;
 
 
 
    int32 QueueCount = 0;
 
 
 
public:
 
 
 
    UCameraComponent* CameraComponent = nullptr;
 
 
 
 
    USceneCaptureComponent2D* SceneCaptureComponent = nullptr;
 
 
 
 
    UTextureRenderTarget2D* RenderTarget = nullptr;
 
 
 
 
    int32 Width = 640;
 
 
 
 
    int32 Height = 480;
 
 
 
 
    int32 QueueSize = 2;
 
 
 
 
    EROS2CameraType CameraType = EROS2CameraType::RGB;
 
 
 
    // ROS
 
    virtual FROSImg GetROS2Data();
 
 
 
    virtual void SetROS2Msg(UROS2GenericMsg* InMessage) override;
 
 
 
 
    FString Encoding = TEXT("rgb8");
 
};