From c08c447484e8c97f9e14958443f10365d6611a51 Mon Sep 17 00:00:00 2001
From: Trim Bresilla <trim.bresilla@gmail.com>
Date: Mon, 25 Nov 2024 01:28:41 +0100
Subject: [PATCH] feat: add conditional rendering in scene capture logic (#336)

- Add a `Render` bool property to control scene capture execution.
- Wrap the scene capture logic in a conditional check on `Render` to allow for selective rendering.
---
 .../Private/Sensors/RRROS2CameraComponent.cpp               | 6 ++++--
 .../Public/Sensors/RRROS2CameraComponent.h                  | 3 +++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
index fc1d0a18..e0f4d62f 100644
--- a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
+++ b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
@@ -49,8 +49,10 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
 
 void URRROS2CameraComponent::SensorUpdate()
 {
-    SceneCaptureComponent->CaptureScene();
-    CaptureNonBlocking();
+    if (Render) {
+        SceneCaptureComponent->CaptureScene();
+        CaptureNonBlocking();
+    }
 }
 
 // reference https://github.com/TimmHess/UnrealImageCapture
diff --git a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
index 566c3cdd..89420d82 100644
--- a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
+++ b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
@@ -114,6 +114,9 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     EROS2CameraType CameraType = EROS2CameraType::RGB;
 
+    UPROPERTY(EditAnywhere, BlueprintReadWrite)
+    bool Render = true;
+   
     // ROS
     /**
      * @brief Update ROS 2 Msg structure from #RenderRequestQueue