UCameraObserver

class UCameraObserver : public UBoxObserver

An observer that collects 2D observations from a camera in the environment.

sensor uses a SceneCaptureComponent2D (https://dev.epicgames.com/documentation/en-us/unreal-engine/1.7—scene-capture-2d?application_version=4.27) and a RenderTarget(https://dev.epicgames.com/documentation/en-us/unreal-engine/BlueprintAPI/RenderTarget?application_version=5.5) to capture images from the environment. To use this sensor, a SceneCaptureComponent2D and a RenderTarget must be first created in the Unreal Editor, and selected in the sensor settings.

Change the CompositeMode setting in the SceneCaptureComponent2D to choose the mode of operation of the camera (RGB, RGB-depth, depth-only).

RenderTarget setting recommendations: Advanced —> Shared = true

SceneCaptureComponent2D setting recommendations: bCaptureEveryFrame = true bRenderInMainRenderer = true CompositeMode = overwrite

Dependencies: FBoxPoint, FBoxSpace, UBoxObserver

Inherits from: public UBoxObserver

Public Interface

Public Functions:

GetObservationSpace

virtual FBoxSpace GetObservationSpace() const const

Get the BoxSpace bounding the outputs of this sensor.

Returns: The ObservationSpace bounding the outputs of this sensor.

Note: This function should be implemented by any derived classes

Returns: FBoxSpace

Attributes: const, virtual

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 71, column 11)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 53-60)

IsChannelUsed

bool IsChannelUsed(USceneCaptureComponent2D *CapComponent, FName ChannelName) const const

Determines whether the specified channel is used.

Parameters:

Name	Type	Default
CapComponent	USceneCaptureComponent2D *	“
ChannelName	FName	“

Returns: bool

Attributes: const

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 74, column 6)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 102-169)

UpdateChannelBooleans

void UpdateChannelBooleans()

Set bObserveChannelR, bObserveChannelG, bObserveChannelB, bObserveChannelA according to the camera mode.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 77, column 6)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 185-193)

GenerateId

virtual FString GenerateId() const override const

Returns: FString

Attributes: const, virtual

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 79, column 9)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 195-236)

CollectObservations

virtual void CollectObservations(FBoxPoint &OutObservations) override

Collect observations about the environment state.

Parameters:

• OutObservations (FBoxPoint &) – [out] A BoxPoint that will be updated with the outputs of this sensor.

Attributes: virtual

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 90, column 14)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 62-100)

InitializeObserver

virtual void InitializeObserver()

Do any subclass-specific setup.

Note: This function should be implemented by any derived classes.

Attributes: virtual

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 92, column 6)

Implementation: Schola/Source/Schola/Private/Observers/CameraObserver.cpp (lines 7-52)

Public Members:

FComponentReference SceneCaptureCompRef

FComponentReference SceneCaptureCompRef

The Camera Component to use for capturing images.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 49, column 21)

TObjectPtr<UTextureRenderTarget2D> RenderTarget

TObjectPtr<UTextureRenderTarget2D> RenderTarget

The Render Target where the captured images are stored to.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 53, column 12)

bool bObserveChannelR

bool bObserveChannelR = = true

Whether the R channel is observed.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 57, column 6)

bool bObserveChannelG

bool bObserveChannelG = = false

Whether the G channel is observed.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 61, column 6)

bool bObserveChannelB

bool bObserveChannelB = = false

Whether the B channelis observed.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 65, column 6)

bool bObserveChannelA

bool bObserveChannelA = = false

Whether the A channel is observed.

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 69, column 6)

Protected Interface

Protected Members:

int Width

int Width

The width of the captured image.

Attributes: protected

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 39, column 5)

int Height

int Height

The height of the captured image.

Attributes: protected

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 43, column 5)

Source: Schola/Source/Schola/Public/Observers/CameraObserver.h (line 32, column 1)