{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "40c027eb",
   "metadata": {},
   "outputs": [],
   "source": [
    "### Camera"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "51ab933a",
   "metadata": {},
   "outputs": [],
   "source": [
    "from simworld.communicator.communicator import Communicator\n",
    "from simworld.communicator.unrealcv import UnrealCV"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "60f59d1e",
   "metadata": {},
   "outputs": [],
   "source": [
    "ucv = UnrealCV()\n",
    "communicator = Communicator(ucv)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "cd2a4fd0",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Spawn a robot dog in the environment for demonstration\n",
    "# This creates an object that we can observe with cameras\n",
    "robot_dog_name = \"Demo_Robot\"\n",
    "robot_dog_asset = \"/Game/Robot_Dog/Blueprint/BP_SpotRobot.BP_SpotRobot_C\"\n",
    "ucv.spawn_bp_asset(robot_dog_asset, robot_dog_name)\n",
    "ucv.set_location((0, 0, 20), robot_dog_name)  # Set position (x, y, z)\n",
    "ucv.enable_controller(robot_dog_name, True)    # Enable controller for the robot"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "23b15d4c",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get and display a lit (RGB) image from camera 1\n",
    "# Camera IDs typically start from 0 or 1\n",
    "camera_id = 1\n",
    "image = communicator.get_camera_observation(camera_id, 'lit')\n",
    "communicator.show_img(image)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "03c2add5",
   "metadata": {},
   "source": [
    "## Get Different View Modes\n",
    "\n",
    "SimWorld supports multiple view modes for different types of sensor data."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "7ee6e9df",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get RGB image with lighting\n",
    "rgb_image = communicator.get_camera_observation(camera_id, 'lit')\n",
    "print(f\"RGB image shape: {rgb_image.shape}\")\n",
    "communicator.show_img(rgb_image)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "41854393",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get depth map\n",
    "depth_image = communicator.get_camera_observation(camera_id, 'depth')\n",
    "print(f\"Depth image shape: {depth_image.shape}\")\n",
    "communicator.show_img(depth_image)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "d4f17d5e",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get object segmentation mask\n",
    "mask_image = communicator.get_camera_observation(camera_id, 'object_mask')\n",
    "print(f\"Mask image shape: {mask_image.shape}\")\n",
    "communicator.show_img(mask_image)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "db2e401a",
   "metadata": {},
   "source": [
    "## Camera Management\n",
    "\n",
    "You can query and adjust camera parameters such as position, rotation, field of view, and resolution."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "4cf1391c",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Get list of all available cameras\n",
    "cameras = ucv.get_cameras()\n",
    "print(f\"Available cameras: {cameras}\")\n",
    "\n",
    "# Get current camera parameters\n",
    "location = ucv.get_camera_location(camera_id)\n",
    "rotation = ucv.get_camera_rotation(camera_id)\n",
    "fov = ucv.get_camera_fov(camera_id)\n",
    "resolution = ucv.get_camera_resolution(camera_id)\n",
    "\n",
    "print(f\"Camera {camera_id} parameters:\")\n",
    "print(f\"  Location: {location}\")\n",
    "print(f\"  Rotation: {rotation}\")\n",
    "print(f\"  FOV: {fov}\")\n",
    "print(f\"  Resolution: {resolution}\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "41ec81e2",
   "metadata": {},
   "outputs": [],
   "source": [
    "# Adjust camera position (x, y, z in Unreal units)\n",
    "new_location = (100, 200, 150)  # Example: move camera to a new position\n",
    "ucv.set_camera_location(camera_id, new_location)\n",
    "print(f\"Camera {camera_id} location set to: {new_location}\")\n",
    "\n",
    "# Adjust camera rotation (pitch, yaw, roll in degrees)\n",
    "new_rotation = (0, 45, 0)  # Example: rotate camera 45 degrees on yaw axis\n",
    "ucv.set_camera_rotation(camera_id, new_rotation)\n",
    "print(f\"Camera {camera_id} rotation set to: {new_rotation}\")\n",
    "\n",
    "# Adjust field of view (horizontal FOV in degrees)\n",
    "new_fov = 90.0  # Example: set FOV to 90 degrees\n",
    "ucv.set_camera_fov(camera_id, new_fov)\n",
    "print(f\"Camera {camera_id} FOV set to: {new_fov}\")\n",
    "\n",
    "# Adjust camera resolution (width, height in pixels)\n",
    "new_resolution = (1920, 1080)  # Example: set to Full HD\n",
    "ucv.set_camera_resolution(camera_id, new_resolution)\n",
    "print(f\"Camera {camera_id} resolution set to: {new_resolution}\")"
   ]
  }
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