From b256e4120436682280aa6016887e272d4a7a17a9 Mon Sep 17 00:00:00 2001
From: Shital Shah <shital@ShitalShah.com>
Date: Fri, 15 Dec 2017 18:08:11 -0800
Subject: [PATCH] fixed multi-camera record issue
 https://github.com/Microsoft/AirSim/issues/685

---
 Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp | 4 ++--
 Unreal/Plugins/AirSim/Source/UnrealImageCapture.h   | 6 ++----
 Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp | 2 +-
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
index c3455de2b1..2294f03ebb 100644
--- a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
+++ b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.cpp
@@ -5,7 +5,7 @@
 #include "NedTransform.h"
 
 
-UnrealImageCapture::UnrealImageCapture(APIPCamera* cameras[]) 
+UnrealImageCapture::UnrealImageCapture(const std::vector<APIPCamera*>& cameras) 
     : cameras_(cameras)
 {
     //TODO: explore screenshot option
@@ -18,7 +18,7 @@ UnrealImageCapture::~UnrealImageCapture()
 void UnrealImageCapture::getImages(const std::vector<msr::airlib::ImageCaptureBase::ImageRequest>& requests, 
     std::vector<msr::airlib::ImageCaptureBase::ImageResponse>& responses)
 {
-    if (cameras_== nullptr) {
+    if (cameras_.size() == 0) {
         for (unsigned int i = 0; i < requests.size(); ++i) {
             responses.push_back(ImageResponse());
             responses[responses.size() - 1].message = "camera is not set";
diff --git a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h
index ade5f054ec..c35030d010 100644
--- a/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h
+++ b/Unreal/Plugins/AirSim/Source/UnrealImageCapture.h
@@ -10,12 +10,11 @@ class UnrealImageCapture : public msr::airlib::ImageCaptureBase
 public:
     typedef msr::airlib::ImageCaptureBase::ImageType ImageType;
 
-    UnrealImageCapture(APIPCamera* cameras[]);
+    UnrealImageCapture(const std::vector<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);
@@ -25,8 +24,7 @@ class UnrealImageCapture : public msr::airlib::ImageCaptureBase
 
     void updateCameraVisibility(APIPCamera* camera, const msr::airlib::ImageCaptureBase::ImageRequest& request);
 
-
 private:
-    APIPCamera** cameras_;
+    std::vector<APIPCamera*> cameras_;
     std::vector<uint8_t> last_compressed_png_;
 };
\ No newline at end of file
diff --git a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
index bb32106fdd..5888af6780 100644
--- a/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
+++ b/Unreal/Plugins/AirSim/Source/VehiclePawnWrapper.cpp
@@ -120,7 +120,7 @@ void VehiclePawnWrapper::initialize(APawn* pawn, const std::vector<APIPCamera*>&
     cameras_ = cameras;
     config_ = config;
 
-    image_capture_.reset(new UnrealImageCapture(cameras_.data()));
+    image_capture_.reset(new UnrealImageCapture(cameras_));
 
     if (!NedTransform::isInitialized())
         NedTransform::initialize(pawn_);