SceneCaptureCamera.cpp

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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>.
 
#include "Carla/Sensor/SceneCaptureCamera.h"
#include "Carla.h"
#include "Carla/Game/CarlaEngine.h"
 
#include <util/ue-header-guard-begin.h>
#include "Actor/ActorBlueprintFunctionLibrary.h"
#include <util/ue-header-guard-end.h>
 
FActorDefinition ASceneCaptureCamera::GetSensorDefinition()
{
    constexpr bool bEnableModifyingPostProcessEffects = true;
    return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
        TEXT("rgb"),
        bEnableModifyingPostProcessEffects);
}
 
ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitializer)
    : Super(ObjectInitializer)
{
    AddPostProcessingMaterial(
        TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
}
 
void ASceneCaptureCamera::BeginPlay()
{
  Super::BeginPlay();
}
 
void ASceneCaptureCamera::OnFirstClientConnected()
{
}
 
void ASceneCaptureCamera::OnLastClientDisconnected()
{
}
 
void ASceneCaptureCamera::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
  Super::EndPlay(EndPlayReason);
}
 
void ASceneCaptureCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(ASceneCaptureCamera::PostPhysTick);
  Super::PostPhysTick(World, TickType, DeltaSeconds);
 
  if (!AreClientsListening())
      return;
 
  auto CaptureContext = MakeCaptureContext(*this);
  ImageUtil::ReadSensorImageDataAsyncFColor(*this, [this, CaptureContext](
    TArrayView<const FColor> Pixels,
    FIntPoint Size) -> bool
  {
    SendDataToClient(*this, Pixels, CaptureContext);
    return true;
  });
}
 
#ifdef CARLA_HAS_GBUFFER_API
void ASceneCaptureCamera::SendGBufferTextures(FGBufferRequest& GBuffer)
{
    SendGBufferTexturesInternal(*this, GBuffer);
}
#endif