DepthCamera_WideAngleLens.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "Carla/Sensor/ShaderBasedSensor_WideAngleLens.h"
 
#include "Carla/Actor/ActorDefinition.h"
 
#include "DepthCamera_WideAngleLens.generated.h"
 
/// Sensor that produces "depth" images.
UCLASS()
class CARLA_API ADepthCamera_WideAngleLens : public AShaderBasedSensor_WideAngleLens
{
  GENERATED_BODY()
 
public:
 
  static FActorDefinition GetSensorDefinition();
 
  ADepthCamera_WideAngleLens(const FObjectInitializer &ObjectInitializer);
 
protected:
 
  void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
 
  /// Pixels outside the lens' calibrated range decode to the far plane
  /// (all channels 255 -> 1000 m) rather than to zero depth.
  FLinearColor GetInvalidPixelColor() const override
  {
    return FLinearColor(1.0F, 1.0F, 1.0F, 1.0F);
  }
};