From ed94729d0c17d6309da3ac43eb4b9cb87b843159 Mon Sep 17 00:00:00 2001
From: Rajat Singhal <rajatsinghal564@gmail.com>
Date: Wed, 7 Oct 2020 21:03:25 +0530
Subject: [PATCH] Revert "Disable cameras after fetching images, projection
 matrix (#2881)"

Running the Image API continuously seems to trigger exceptions

This reverts commit ba4be152b5f06279261150aada9af510e6e1b431.
---
 PythonClient/multirotor/high_res_camera.py    | 61 -------------------
 Unreal/Plugins/AirSim/Source/PIPCamera.cpp    | 15 +++--
 .../AirSim/Source/UnrealImageCapture.cpp      |  4 --
 3 files changed, 7 insertions(+), 73 deletions(-)
 delete mode 100644 PythonClient/multirotor/high_res_camera.py

diff --git a/PythonClient/multirotor/high_res_camera.py b/PythonClient/multirotor/high_res_camera.py
deleted file mode 100644
index 151383f444..0000000000
--- a/PythonClient/multirotor/high_res_camera.py
+++ /dev/null
@@ -1,61 +0,0 @@
-import airsim
-from datetime import datetime
-
-'''
-Simple script with settings to create a high-resolution camera, and fetching it
-
-Settings used-
-{
-    "SettingsVersion": 1.2,
-    "SimMode": "Multirotor",
-    "Vehicles" : {
-        "Drone1" : {
-            "VehicleType" : "SimpleFlight",
-            "AutoCreate" : true,
-            "Cameras" : {
-                "high_res": {
-                    "CaptureSettings" : [
-                        {
-                            "ImageType" : 0,
-                            "Width" : 4320,
-                            "Height" : 2160
-                        }
-                    ],
-                    "X": 0.50, "Y": 0.00, "Z": 0.10,
-                    "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
-                },
-                "low_res": {
-                    "CaptureSettings" : [
-                        {
-                            "ImageType" : 0,
-                            "Width" : 256,
-                            "Height" : 144
-                        }
-                    ],
-                    "X": 0.50, "Y": 0.00, "Z": 0.10,
-                    "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0
-                }
-            }
-        }
-    }
-}
-'''
-
-client = airsim.VehicleClient()
-client.confirmConnection()
-framecounter = 1
-
-prevtimestamp = datetime.now()
-
-while(framecounter <= 500):
-    if framecounter%150 == 0:
-        client.simGetImages([airsim.ImageRequest("high_res", airsim.ImageType.Scene, False, False)])
-        print("High resolution image captured.")
-
-    if framecounter%30 == 0:
-        now = datetime.now()
-        print(f"Time spent for 30 frames: {now-prevtimestamp}")
-        prevtimestamp = now
-
-    client.simGetImages([airsim.ImageRequest("low_res", airsim.ImageType.Scene, False, False)])
-    framecounter += 1
diff --git a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
index b87ad3749a..735298788c 100644
--- a/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
+++ b/Unreal/Plugins/AirSim/Source/PIPCamera.cpp
@@ -86,8 +86,6 @@ void APIPCamera::BeginPlay()
 
 msr::airlib::ProjectionMatrix APIPCamera::getProjectionMatrix(const APIPCamera::ImageType image_type) const
 {
-    msr::airlib::ProjectionMatrix mat;
-
     //TODO: avoid the need to override const cast here
     const_cast<APIPCamera*>(this)->setCameraTypeEnabled(image_type, true);
     const USceneCaptureComponent2D* capture = const_cast<APIPCamera*>(this)->getCaptureComponent(image_type, false);
@@ -163,17 +161,18 @@ msr::airlib::ProjectionMatrix APIPCamera::getProjectionMatrix(const APIPCamera::
         FMatrix projMatTransposeInAirSim = coordinateChangeTranspose * proj_mat_transpose;
 
         //Copy the result to an airlib::ProjectionMatrix while taking transpose.
+        msr::airlib::ProjectionMatrix mat;
         for (auto row = 0; row < 4; ++row)
             for (auto col = 0; col < 4; ++col)
                 mat.matrix[col][row] = projMatTransposeInAirSim.M[row][col];
+
+        return mat;
     }
-    else
+    else {
+        msr::airlib::ProjectionMatrix mat;
         mat.setTo(Utils::nan<float>());
-
-    // Disable camera after our work is done
-    const_cast<APIPCamera*>(this)->setCameraTypeEnabled(image_type, false);
-
-    return mat;
+        return mat;
+    }
 }
 
 void APIPCamera::Tick(float DeltaTime)
diff --git a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
index 6b034f81df..da28a1795f 100644
--- a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
+++ b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
@@ -112,10 +112,6 @@ void UnrealImageCapture::getSceneCaptureImage(const std::vector<msr::airlib::Ima
         response.width = render_results[i]->width;
         response.height = render_results[i]->height;
         response.image_type = request.image_type;
-
-        // Disable camera after fetching images
-        APIPCamera* camera = cameras_->at(request.camera_name);
-        camera->setCameraTypeEnabled(request.image_type, false);
     }
 
 }