Class 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

Public Functions

virtual FBoxSpace GetObservationSpace() const

Get the BoxSpace bounding the outputs of this sensor.

Note

This function should be implemented by any derived classes

Returns:

The ObservationSpace bounding the outputs of this sensor.

bool IsChannelUsed(USceneCaptureComponent2D *CapComponent, FName ChannelName) const

Determines whether the specified channel is used.

void UpdateChannelBooleans()

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

virtual FString GenerateId() const override

virtual void CollectObservations(FBoxPoint &OutObservations) override

Collect observations about the environment state.

Parameters:

OutObservations – [out] A BoxPoint that will be updated with the outputs of this sensor.

virtual void InitializeObserver()

Do any subclass-specific setup.

Note

This function should be implemented by any derived classes.

Public Members

FComponentReference SceneCaptureCompRef

The Camera Component to use for capturing images.

TObjectPtr<UTextureRenderTarget2D> RenderTarget

The Render Target where the captured images are stored to.

bool bObserveChannelR = true

Whether the R channel is observed.

bool bObserveChannelG = false

Whether the G channel is observed.

bool bObserveChannelB = false

Whether the B channelis observed.

bool bObserveChannelA = false

Whether the A channel is observed.