Revert "Disable cameras after fetching images, projection matrix (#2881…

…)"

Running the Image API continuously seems to trigger exceptions

This reverts commit ba4be15.

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)

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);
     }
 
 }