refactor image capture APIs

AirLib/include/controllers/ImageCaptureBase.hpp

@@ -25,10 +25,10 @@ public: //types
     };
 
     struct ImageRequest {
-        uint8_t camera_id;
+        uint8_t camera_id = 0;
-        ImageCaptureBase::ImageType image_type;
+        ImageCaptureBase::ImageType image_type = ImageCaptureBase::ImageType::Scene;
-        bool pixels_as_float;
+        bool pixels_as_float = false;
-        bool compress;
+        bool compress = true;
 
         ImageRequest()
         {}
@@ -57,7 +57,7 @@ public: //types
     };
 
 public: //methods
-    virtual ImageResponse getImage(ImageType image_type, bool pixels_as_float, bool compress) = 0;
+    virtual void getImages(const std::vector<ImageRequest>& requests, std::vector<ImageResponse>& responses) = 0;
 };
 
 

AirLib/include/controllers/VehicleConnectorBase.hpp

@@ -25,7 +25,7 @@ public:
     virtual void stopApiServer() = 0;
     virtual bool isApiServerStarted() = 0;
     virtual VehicleControllerBase* getController() = 0;
-    virtual ImageCaptureBase* getCamera(unsigned int index) = 0;
+    virtual ImageCaptureBase* getImageCapture() = 0;
     virtual void setPose(const Pose& pose, bool ignore_collision) = 0;
     virtual Pose getPose() = 0;
     virtual bool setSegmentationObjectID(const std::string& mesh_name, int object_id,

AirLib/include/vehicles/multirotor/api/DroneApi.hpp

@@ -251,17 +251,12 @@ public:
         controller_->enableApiControl(is_enabled);
     }
 
-    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& request) override
+    virtual vector<ImageCaptureBase::ImageResponse> simGetImages(const vector<ImageCaptureBase::ImageRequest>& requests) override
     {
-        vector<ImageCaptureBase::ImageResponse> response;
+        vector<ImageCaptureBase::ImageResponse> responses;
-
+        ImageCaptureBase* image_capture = vehicle_->getImageCapture();
-        for (const auto& item : request) {
+        image_capture->getImages(requests, responses);
-            ImageCaptureBase* camera = vehicle_->getCamera(item.camera_id);
+        return responses;
-            const auto& item_response = camera->getImage(item.image_type, item.pixels_as_float, item.compress);
-            response.push_back(item_response);
-        }
-
-        return response;
     }
     virtual vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) override
     {

AirLib/include/vehicles/multirotor/controllers/RealMultirotorConnector.hpp

@@ -44,10 +44,10 @@ public:
         return controller_;
     }
 
-    virtual ImageCaptureBase* getCamera(unsigned int index) override
+    virtual ImageCaptureBase* getImageCapture() override
     {
         //TODO: we need to support this but with only scene image type
-        throw std::logic_error("getCamera() call is only supported for simulation");
+        throw std::logic_error("getImageCapture() call is only supported for simulation");
     }
 
     virtual void setPose(const Pose& pose, bool ignore_collision) override

Unreal/Plugins/AirSim/Source/Car/CarPawnApi.cpp

@@ -10,17 +10,14 @@ CarPawnApi::CarPawnApi(VehiclePawnWrapper* pawn, UWheeledVehicleMovementComponen
 }
 
 std::vector<ImageCaptureBase::ImageResponse> CarPawnApi::simGetImages(
-    const std::vector<ImageCaptureBase::ImageRequest>& request)
+    const std::vector<ImageCaptureBase::ImageRequest>& requests)
 {
-    std::vector<ImageCaptureBase::ImageResponse> response;
+    std::vector<ImageCaptureBase::ImageResponse> responses;
 
-    for (const auto& item : request) {
+    ImageCaptureBase* camera = pawn_->getImageCapture();
-        ImageCaptureBase* camera = pawn_->getCameraConnector(item.camera_id);
+    camera->getImages(requests, responses);
-        const auto& item_response = camera->getImage(item.image_type, item.pixels_as_float, item.compress);
-        response.push_back(item_response);
-    }
 
-    return response;
+    return responses;
 }
 
 bool CarPawnApi::simSetSegmentationObjectID(const std::string& mesh_name, int object_id, 

Unreal/Plugins/AirSim/Source/Car/CarPawnApi.h

@@ -13,8 +13,7 @@ public:
 
     CarPawnApi(VehiclePawnWrapper* pawn, UWheeledVehicleMovementComponent* movement);
 
-    virtual std::vector<ImageCaptureBase::ImageResponse> simGetImages(
+
-        const std::vector<ImageCaptureBase::ImageRequest>& request) override;
 
     virtual bool simSetSegmentationObjectID(const std::string& mesh_name, int object_id,
         bool is_name_regex = false) override;
@@ -26,6 +25,8 @@ public:
     virtual msr::airlib::CollisionInfo getCollisionInfo() override;
 
     virtual std::vector<uint8_t> simGetImage(uint8_t camera_id, ImageCaptureBase::ImageType image_type) override;
+    virtual std::vector<ImageCaptureBase::ImageResponse> simGetImages(
+        const std::vector<ImageCaptureBase::ImageRequest>& requests) override;
 
     virtual void setCarControls(const CarApiBase::CarControls& controls) override;
 

Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.cpp

@@ -63,9 +63,9 @@ MultiRotorConnector::MultiRotorConnector(VehiclePawnWrapper* vehicle_pawn_wrappe
     }
 }
 
-msr::airlib::ImageCaptureBase* MultiRotorConnector::getCamera(unsigned int index)
+msr::airlib::ImageCaptureBase* MultiRotorConnector::getImageCapture()
 {
-    return vehicle_pawn_wrapper_->getCameraConnector(index);
+    return vehicle_pawn_wrapper_->getImageCapture();
 }
 
 MultiRotorConnector::~MultiRotorConnector()

Unreal/Plugins/AirSim/Source/Multirotor/MultiRotorConnector.h

@@ -60,7 +60,7 @@ public:
         bool is_name_regex = false) override;
     virtual int getSegmentationObjectID(const std::string& mesh_name) override;
 
-    virtual msr::airlib::ImageCaptureBase* getCamera(unsigned int index = 0) override;
+    virtual msr::airlib::ImageCaptureBase* getImageCapture() override;
 
     virtual void printLogMessage(const std::string& message, std::string message_param = "", unsigned char severity = 0) override;
 

Unreal/Plugins/AirSim/Source/Recording/RecordingThread.cpp

@@ -11,20 +11,20 @@ std::unique_ptr<FRecordingThread> FRecordingThread::instance_;
 
 
 FRecordingThread::FRecordingThread()
-    : stop_task_counter_(0), camera_(nullptr), recording_file_(nullptr), kinematics_(nullptr), is_ready_(false)
+    : stop_task_counter_(0), recording_file_(nullptr), kinematics_(nullptr), is_ready_(false)
 {
     thread_.reset(FRunnableThread::Create(this, TEXT("FRecordingThread"), 0, TPri_BelowNormal)); // Windows default, possible to specify more priority
 }
 
 
-void FRecordingThread::startRecording(msr::airlib::ImageCaptureBase* camera, const msr::airlib::Kinematics::State* kinematics, const RecordingSettings& settings, std::vector <std::string> columns, VehiclePawnWrapper* wrapper)
+void FRecordingThread::startRecording(msr::airlib::ImageCaptureBase* image_capture, const msr::airlib::Kinematics::State* kinematics, const RecordingSettings& settings, std::vector <std::string> columns, VehiclePawnWrapper* wrapper)
 {
     stopRecording();
 
     //TODO: check FPlatformProcess::SupportsMultithreading()?
 
     instance_.reset(new FRecordingThread());
-    instance_->camera_ = camera;
+    instance_->image_capture_ = image_capture;
     instance_->kinematics_ = kinematics;
     instance_->settings_ = settings;
     instance_->wrapper_ = wrapper;
@@ -61,7 +61,7 @@ void FRecordingThread::stopRecording()
 
 bool FRecordingThread::Init()
 {
-    if (camera_ && recording_file_)
+    if (image_capture_ && recording_file_)
     {
         UAirBlueprintLib::LogMessage(TEXT("Initiated recording thread"), TEXT(""), LogDebugLevel::Success);
     }
@@ -83,9 +83,13 @@ uint32 FRecordingThread::Run()
 
                 // todo: should we go as fast as possible, or should we limit this to a particular number of
                 // frames per second?
-                auto response = camera_->getImage(msr::airlib::ImageCaptureBase::ImageType::Scene, false, true);
+                std::vector<msr::airlib::ImageCaptureBase::ImageRequest> requests;
+                std::vector<msr::airlib::ImageCaptureBase::ImageResponse> responses;
+
+                requests.push_back(msr::airlib::ImageCaptureBase::ImageRequest(0, msr::airlib::ImageCaptureBase::ImageType::Scene, false, true));
+                image_capture_->getImages(requests, responses);
                 TArray<uint8_t> image_data;
-                image_data.Append(response.image_data_uint8.data(), response.image_data_uint8.size());
+                image_data.Append(responses[0].image_data_uint8.data(), responses[0].image_data_uint8.size());
                 recording_file_->appendRecord(image_data, wrapper_);
             }
         }

Unreal/Plugins/AirSim/Source/Recording/RecordingThread.h

@@ -3,7 +3,7 @@
 #include "CoreMinimal.h"
 #include "AirBlueprintLib.h"
 #include "HAL/Runnable.h"
-#include "VehicleCameraConnector.h"
+#include "UnrealImageCapture.h"
 #include "VehiclePawnWrapper.h"
 #include "Recording/RecordingFile.h"
 #include "physics/Kinematics.hpp"
@@ -38,7 +38,7 @@ private:
     std::unique_ptr<FRunnableThread> thread_;
 
     RecordingSettings settings_;
-    msr::airlib::ImageCaptureBase* camera_;
+    msr::airlib::ImageCaptureBase* image_capture_;
     std::unique_ptr<RecordingFile> recording_file_;
     const msr::airlib::Kinematics::State* kinematics_;
     VehiclePawnWrapper* wrapper_;

Unreal/Plugins/AirSim/Source/SimMode/SimModeBase.cpp

@@ -214,7 +214,7 @@ ECameraDirectorMode ASimModeBase::getInitialViewMode()
 
 void ASimModeBase::startRecording()
 {
-    FRecordingThread::startRecording(getFpvVehiclePawnWrapper()->getCameraConnector(0),
+    FRecordingThread::startRecording(getFpvVehiclePawnWrapper()->getImageCapture(),
         getFpvVehiclePawnWrapper()->getKinematics(), recording_settings, columns, getFpvVehiclePawnWrapper());
 }
 

Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp

@@ -0,0 +1,130 @@
+#include "UnrealImageCapture.h"
+#include "RenderRequest.h"
+#include "ImageUtils.h"
+#include "common/ClockFactory.hpp"
+#include "NedTransform.h"
+
+
+UnrealImageCapture::UnrealImageCapture(APIPCamera* cameras[]) 
+    : cameras_(cameras)
+{
+    //TODO: explore screenshot option
+    //addScreenCaptureHandler(camera->GetWorld());
+}
+
+UnrealImageCapture::~UnrealImageCapture()
+{}
+
+void UnrealImageCapture::getImages(const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& requests, 
+    std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& responses)
+{
+    if (cameras_== nullptr) {
+        for (unsigned int i = 0; i < requests.size(); ++i) {
+            responses.push_back(ImageResponse());
+            responses[responses.size() - 1].message = "camera is not set";
+        }
+    }
+    else
+        getSceneCaptureImage(requests, responses, false);
+}
+
+
+void UnrealImageCapture::getSceneCaptureImage(const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& requests, 
+    std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& responses, bool use_safe_method)
+{
+    std::vector<std::shared_ptr<RenderRequest::RenderParams>> render_params;
+    std::vector<std::shared_ptr<RenderRequest::RenderResult>> render_results;
+
+    for (unsigned int i = 0; i < requests.size(); ++i) {
+        APIPCamera* camera = cameras_[i];
+        responses.push_back(ImageResponse());
+        ImageResponse& response = responses[i];
+
+
+        updateCameraVisibility(camera, requests[i]);
+
+        UTextureRenderTarget2D* textureTarget = nullptr;
+        USceneCaptureComponent2D* capture = camera->getCaptureComponent(requests[i].image_type, false);
+        if (capture == nullptr) {
+            response.message = "Can't take screenshot because none camera type is not active";
+        }
+        else if (capture->TextureTarget == nullptr) {
+            response.message = "Can't take screenshot because texture target is null";
+        }
+        else 
+            textureTarget = capture->TextureTarget;
+
+        render_params.push_back(std::make_shared<RenderRequest::RenderParams>(textureTarget, requests[i].pixels_as_float, requests[i].compress));
+    }
+
+    RenderRequest render_request(use_safe_method);
+    render_request.getScreenshot(render_params.data(), render_results, render_params.size());
+
+    for (unsigned int i = 0; i < requests.size(); ++i) {
+        const ImageRequest& request = requests[i];
+        ImageResponse& response = responses[i];
+        APIPCamera* camera = cameras_[i];
+                
+        response.time_stamp = msr::airlib::ClockFactory::get()->nowNanos();
+        response.image_data_uint8 = std::vector<uint8_t>(render_results[i]->image_data_uint8.GetData(), render_results[i]->image_data_uint8.GetData() + render_results[i]->image_data_uint8.Num());
+        response.image_data_float = std::vector<float>(render_results[i]->image_data_float.GetData(), render_results[i]->image_data_float.GetData() + render_results[i]->image_data_float.Num());
+
+        response.camera_position = NedTransform::toNedMeters(camera->GetActorLocation());
+        response.camera_orientation = NedTransform::toQuaternionr(camera->GetActorRotation().Quaternion(), true);
+        response.pixels_as_float = request.pixels_as_float;
+        response.compress = request.compress;
+        response.width = render_results[i]->width;
+        response.height = render_results[i]->height;
+        response.image_type = request.image_type;
+    }
+
+}
+
+
+void UnrealImageCapture::updateCameraVisibility(APIPCamera* camera, const msr::airlib::ImageCaptureBase::ImageRequest& request)
+{
+    bool visibilityChanged = false;
+    if (! camera->getCameraTypeEnabled(request.image_type)) {
+        camera->setCameraTypeEnabled(request.image_type, true);
+        visibilityChanged = true;
+    }
+
+    if (visibilityChanged) {
+        // Wait for render so that view is ready for capture
+        std::this_thread::sleep_for(std::chrono::duration<double>(0.2));
+        // not sure why this doesn't work.
+        //DECLARE_CYCLE_STAT(TEXT("FNullGraphTask.CheckRenderStatus"), STAT_FNullGraphTask_CheckRenderStatus, STATGROUP_TaskGraphTasks);
+        //auto renderStatus = TGraphTask<FNullGraphTask>::CreateTask(NULL).ConstructAndDispatchWhenReady(GET_STATID(STAT_FNullGraphTask_CheckRenderStatus), ENamedThreads::RenderThread);
+        //FTaskGraphInterface::Get().WaitUntilTaskCompletes(renderStatus);
+    }
+}
+
+bool UnrealImageCapture::getScreenshotScreen(ImageType image_type, std::vector<uint8_t>& compressedPng)
+{
+    FScreenshotRequest::RequestScreenshot(false); // This is an async operation
+    return true;
+}
+
+void UnrealImageCapture::addScreenCaptureHandler(UWorld *world)
+{
+    static bool is_installed = false;
+
+    if (!is_installed) {
+        UGameViewportClient* ViewportClient = world->GetGameViewport();
+        ViewportClient->OnScreenshotCaptured().Clear();
+        ViewportClient->OnScreenshotCaptured().AddLambda(
+            [this](int32 SizeX, int32 SizeY, const TArray<FColor>& Bitmap)
+        {
+            // Make sure that all alpha values are opaque.
+            TArray<FColor>& RefBitmap = const_cast<TArray<FColor>&>(Bitmap);
+            for(auto& Color : RefBitmap)
+                Color.A = 255;
+
+            TArray<uint8_t> last_compressed_png;
+            FImageUtils::CompressImageArray(SizeX, SizeY, RefBitmap, last_compressed_png);
+            last_compressed_png_ = std::vector<uint8_t>(last_compressed_png.GetData(), last_compressed_png.GetData() + last_compressed_png.Num());
+        });
+
+        is_installed = true;
+    }
+}

Unreal/Plugins/AirSim/Source/UnrealImageCapture.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "CoreMinimal.h"
+#include "PIPCamera.h"
+#include "controllers/ImageCaptureBase.hpp"
+
+
+class UnrealImageCapture : public msr::airlib::ImageCaptureBase
+{
+public:
+    typedef msr::airlib::ImageCaptureBase::ImageType ImageType;
+
+    UnrealImageCapture(APIPCamera* cameras[]);
+    virtual ~UnrealImageCapture();
+
+    virtual void getImages(const std::vector<ImageRequest>& requests, std::vector<ImageResponse>& responses) override;
+
+
+private:
+    void getSceneCaptureImage(const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& requests, 
+        std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& responses, bool use_safe_method);
+
+    void addScreenCaptureHandler(UWorld *world);
+    bool getScreenshotScreen(ImageType image_type, std::vector<uint8_t>& compressedPng);
+
+    void updateCameraVisibility(APIPCamera* camera, const msr::airlib::ImageCaptureBase::ImageRequest& request);
+
+
+private:
+    APIPCamera** cameras_;
+    std::vector<uint8_t> last_compressed_png_;
+};

Unreal/Plugins/AirSim/Source/VehicleCameraConnector.cpp

@@ -1,116 +0,0 @@
-#include "VehicleCameraConnector.h"
-#include "RenderRequest.h"
-#include "ImageUtils.h"
-#include "common/ClockFactory.hpp"
-#include "NedTransform.h"
-
-
-VehicleCameraConnector::VehicleCameraConnector(APIPCamera* camera) 
-    : camera_(camera)
-{
-    //TODO: explore screenshot option
-    //addScreenCaptureHandler(camera->GetWorld());
-}
-
-VehicleCameraConnector::~VehicleCameraConnector()
-{}
-
-msr::airlib::ImageCaptureBase::ImageResponse VehicleCameraConnector::getImage(VehicleCameraConnector::ImageType image_type, bool pixels_as_float, bool compress)
-{
-
-    if (camera_== nullptr) {
-        ImageResponse response;
-        response.message = "camera is not set";
-        return response;
-    }
-
-    return getSceneCaptureImage(image_type, pixels_as_float, compress, false);
-}
-
-msr::airlib::ImageCaptureBase::ImageResponse VehicleCameraConnector::getSceneCaptureImage(VehicleCameraConnector::ImageType image_type, 
-    bool pixels_as_float, bool compress, bool use_safe_method)
-{
-    bool visibilityChanged = false;
-    if (! camera_->getCameraTypeEnabled(image_type)) {
-        camera_->setCameraTypeEnabled(image_type, true);
-        visibilityChanged = true;
-    }
-
-    if (visibilityChanged) {
-        // Wait for render so that view is ready for capture
-        std::this_thread::sleep_for(std::chrono::duration<double>(0.2));
-        // not sure why this doesn't work.
-        //DECLARE_CYCLE_STAT(TEXT("FNullGraphTask.CheckRenderStatus"), STAT_FNullGraphTask_CheckRenderStatus, STATGROUP_TaskGraphTasks);
-        //auto renderStatus = TGraphTask<FNullGraphTask>::CreateTask(NULL).ConstructAndDispatchWhenReady(GET_STATID(STAT_FNullGraphTask_CheckRenderStatus), ENamedThreads::RenderThread);
-        //FTaskGraphInterface::Get().WaitUntilTaskCompletes(renderStatus);
-    }
-
-    using namespace msr::airlib;
-    USceneCaptureComponent2D* capture = camera_->getCaptureComponent(image_type, false);
-    if (capture == nullptr) {
-        ImageResponse response;
-        response.message = "Can't take screenshot because none camera type is not active";
-        return response;
-    }
-
-    if (capture->TextureTarget == nullptr) {
-        ImageResponse response;
-        response.message = "Can't take screenshot because texture target is null";
-        return response;
-    }
-
-    UTextureRenderTarget2D* textureTarget = capture->TextureTarget;
-
-    RenderRequest request(use_safe_method);
-    std::vector<std::shared_ptr<RenderRequest::RenderParams>> render_params;
-    std::vector<std::shared_ptr<RenderRequest::RenderResult>> render_results;
-
-    render_params.push_back(std::make_shared<RenderRequest::RenderParams>(textureTarget, pixels_as_float, compress));
-
-    request.getScreenshot(render_params.data(), render_results, render_params.size());
-
-    ImageResponse response;
-    response.time_stamp = msr::airlib::ClockFactory::get()->nowNanos();
-    response.image_data_uint8 = std::vector<uint8_t>(render_results[0]->image_data_uint8.GetData(), render_results[0]->image_data_uint8.GetData() + render_results[0]->image_data_uint8.Num());
-    response.image_data_float = std::vector<float>(render_results[0]->image_data_float.GetData(), render_results[0]->image_data_float.GetData() + render_results[0]->image_data_float.Num());
-
-    response.camera_position = NedTransform::toNedMeters(capture->GetComponentLocation());
-    response.camera_orientation = NedTransform::toQuaternionr(capture->GetComponentRotation().Quaternion(), true);
-    response.pixels_as_float = pixels_as_float;
-    response.compress = compress;
-    response.width = render_results[0]->width;
-    response.height = render_results[0]->height;
-    response.image_type = image_type;
-    return response;
-}
-
-
-bool VehicleCameraConnector::getScreenshotScreen(ImageType image_type, std::vector<uint8_t>& compressedPng)
-{
-    FScreenshotRequest::RequestScreenshot(false); // This is an async operation
-    return true;
-}
-
-void VehicleCameraConnector::addScreenCaptureHandler(UWorld *world)
-{
-    static bool is_installed = false;
-
-    if (!is_installed) {
-        UGameViewportClient* ViewportClient = world->GetGameViewport();
-        ViewportClient->OnScreenshotCaptured().Clear();
-        ViewportClient->OnScreenshotCaptured().AddLambda(
-            [this](int32 SizeX, int32 SizeY, const TArray<FColor>& Bitmap)
-        {
-            // Make sure that all alpha values are opaque.
-            TArray<FColor>& RefBitmap = const_cast<TArray<FColor>&>(Bitmap);
-            for(auto& Color : RefBitmap)
-                Color.A = 255;
-
-            TArray<uint8_t> last_compressed_png;
-            FImageUtils::CompressImageArray(SizeX, SizeY, RefBitmap, last_compressed_png);
-            last_compressed_png_ = std::vector<uint8_t>(last_compressed_png.GetData(), last_compressed_png.GetData() + last_compressed_png.Num());
-        });
-
-        is_installed = true;
-    }
-}

Unreal/Plugins/AirSim/Source/VehicleCameraConnector.h

@@ -1,27 +0,0 @@
-#pragma once
-
-#include "CoreMinimal.h"
-#include "PIPCamera.h"
-#include "controllers/ImageCaptureBase.hpp"
-
-
-class VehicleCameraConnector : public msr::airlib::ImageCaptureBase
-{
-public:
-    typedef msr::airlib::ImageCaptureBase::ImageType ImageType;
-
-    VehicleCameraConnector(APIPCamera* camera);
-    virtual ~VehicleCameraConnector();
-    virtual ImageResponse getImage(ImageType image_type, bool pixels_as_float, bool compress) override;
-
-private:
-    msr::airlib::ImageCaptureBase::ImageResponse getSceneCaptureImage(ImageType image_type, 
-        bool pixels_as_float, bool compress, bool use_safe_method);
-
-    void addScreenCaptureHandler(UWorld *world);
-    bool getScreenshotScreen(ImageType image_type, std::vector<uint8_t>& compressedPng);
-
-private:
-    APIPCamera* camera_;
-    std::vector<uint8_t> last_compressed_png_;
-};

Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp

@@ -120,9 +120,7 @@ void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>&
     cameras_ = cameras;
     config_ = config;
 
-    for (auto camera : cameras_) {
+    image_capture_.reset(new UnrealImageCapture(cameras_.data()));
-        camera_connectors_.push_back(std::unique_ptr<VehicleCameraConnector>(new VehicleCameraConnector(camera)));
-    }
 
     if (!NedTransform::isInitialized())
         NedTransform::initialize(pawn_);
@@ -172,10 +170,9 @@ APIPCamera* VehiclePawnWrapper::getCamera(int index)
     return cameras_.at(index);
 }
 
-VehicleCameraConnector* VehiclePawnWrapper::getCameraConnector(int index)
+UnrealImageCapture* VehiclePawnWrapper::getImageCapture()
 {
-    //should be overridden in derived class
+    return image_capture_.get();
-    return camera_connectors_.at(index).get();
 }
 
 int VehiclePawnWrapper::getCameraCount()

Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.h

@@ -3,7 +3,7 @@
 #include "CoreMinimal.h"
 #include <vector>
 #include <memory>
-#include "VehicleCameraConnector.h"
+#include "UnrealImageCapture.h"
 #include "common/Common.hpp"
 #include "common/CommonStructs.hpp"
 #include "PIPCamera.h"
@@ -46,7 +46,7 @@ public: //interface
         bool bSelfMoved, FVector HitLocation, FVector HitNormal, FVector NormalImpulse, const FHitResult& Hit);
 
     APIPCamera* getCamera(int index = 0);
-    VehicleCameraConnector* getCameraConnector(int index = 0);
+    UnrealImageCapture* getImageCapture();
     int getCameraCount();
     void displayCollisionEffect(FVector hit_location, const FHitResult& hit);
     APawn* getPawn();
@@ -94,7 +94,7 @@ private: //vars
     GeoPoint home_point_;
     APawn* pawn_;
     std::vector<APIPCamera*> cameras_;
-    std::vector<std::unique_ptr<VehicleCameraConnector>> camera_connectors_;
+    std::unique_ptr<UnrealImageCapture> image_capture_;
     const msr::airlib::Kinematics::State* kinematics_;
     std::string log_line_;
     WrapperConfig config_;