Sensor that produce Dynamic Vision Events. More...

#include <DVSCamera.h>

Inheritance diagram for ADVSCamera:

Public Member Functions
	ADVSCamera (const FObjectInitializer &ObjectInitializer)

void	Set (const FActorDescription &ActorDescription) override

Public Member Functions inherited from AShaderBasedSensor
bool	AddPostProcessingMaterial (const FString &Path)
	Load the UMaterialInstanceDynamic at the given Path and append it to the list of shaders with Weight.

void	AddShader (const FSensorShader &Shader)
	Add a post-processing shader.

	AShaderBasedSensor (const FObjectInitializer &ObjectInitializer)

void	Set (const FActorDescription &ActorDescription) override

void	SetFloatShaderParameter (uint8_t ShaderIndex, const FName &ParameterName, float Value)

Public Member Functions inherited from ASceneCaptureSensor
bool	ArePostProcessingEffectsEnabled () const

	ASceneCaptureSensor (const FObjectInitializer &ObjectInitializer)

void	Enable16BitFormat (bool Enable=false)

void	EnablePostProcessingEffects (bool Enable=true)

void	EnqueueRenderSceneImmediate ()
	Immediate enqueues render commands of the scene at the current time.

float	GetAOIntensity () const

float	GetAORadius () const

float	GetAperture () const

int	GetBladeCount () const

float	GetBloomIntensity () const

UTexture2D *	GetBloomKernelTexture () const

EBloomMethod	GetBloomMethod () const

float	GetBlueCorrection () const

USceneCaptureComponent2D_CARLA *	GetCaptureComponent () const

USceneCaptureComponent2D *	GetCaptureComponent2D ()

UTextureRenderTarget2D *	GetCaptureRenderTarget ()

float	GetChromAberrIntensity () const

float	GetChromAberrOffset () const

FVector4	GetColorContrast () const

FVector4	GetColorContrastHighlights () const

FVector4	GetColorContrastMidtones () const

FVector4	GetColorGamma () const

FVector4	GetColorSaturation () const

FVector4	GetColorSaturationHighlights () const

FVector4	GetColorSaturationMidtones () const

float	GetDepthBlurAmount () const

float	GetDepthBlurRadius () const

float	GetDepthOfFieldMinFstop () const

float	GetDetailStrength () const

float	GetDirtMaskIntensity () const

float	GetExposureCalibrationConstant () const

float	GetExposureCompensation () const

float	GetExposureMaxBrightness () const

EAutoExposureMethod	GetExposureMethod () const

float	GetExposureMinBrightness () const

float	GetExposureSpeedDown () const

float	GetExposureSpeedUp () const

float	GetFilmBlackClip () const

float	GetFilmGrainIntensity () const

float	GetFilmShoulder () const

float	GetFilmSlope () const

float	GetFilmToe () const

float	GetFilmWhiteClip () const

float	GetFocalDistance () const

float	GetFOVAngle () const

FVector4	GetGlobalGain () const

float	GetHighlightContrastScale () const

FVector4	GetHighlightsGamma () const

uint32	GetImageHeight () const

uint32	GetImageWidth () const

float	GetISO () const

float	GetLensFlareIntensity () const

ELocalExposureMethod	GetLocalExposureMethod () const

float	GetMotionBlurIntensity () const

float	GetMotionBlurMaxDistortion () const

float	GetMotionBlurMinObjectScreenSize () const

FRHIGPUReadbackPoolPtr	GetReadbackPool () const
	Per-sensor pool of recyclable RHI readback objects.

FLinearColor	GetSceneColorTint () const

float	GetSensorWidth () const

float	GetShadowContrastScale () const

const FCarlaShowOnlyFilter &	GetShowOnlyFilter () const

float	GetShutterSpeed () const

float	GetTargetGamma () const

float	GetToneCurveAmount () const

bool	GetUseRayTracing () const

float	GetVignetteIntensity () const

float	GetWhiteTemp () const

float	GetWhiteTint () const

bool	Is16BitFormatEnabled () const

bool	IsDLSSUpscaleEnabled () const

bool	IsShowOnlyEnabled () const

bool	ReadPixels (TArray< FColor > &BitMap) const
	Use for debugging purposes only.

void	SaveCaptureToDisk (const FString &FilePath) const
	Use for debugging purposes only.

void	SetAOIntensity (float Intensity)

void	SetAORadius (float Radius)

void	SetAperture (float Aperture)

void	SetBladeCount (int Count)

void	SetBloomConvolutionTexture (UTexture2D *Texture)

void	SetBloomIntensity (float Intensity)

void	SetBloomMethod (EBloomMethod Method)

void	SetBlueCorrection (float Val)

void	SetChromAberrIntensity (float Intensity)

void	SetChromAberrOffset (float ChromAberrOffset)

void	SetColorContrast (FVector4 ColorContrast)

void	SetColorContrastHighlights (FVector4 ColorContrast)

void	SetColorContrastMidtones (FVector4 ColorContrast)

void	SetColorGamma (FVector4 ColorGamma)

void	SetColorSaturation (FVector4 ColorSaturation)

void	SetColorSaturationHighlights (FVector4 ColorSaturation)

void	SetColorSaturationMidtones (FVector4 ColorSaturation)

void	SetDepthBlurAmount (float Amount)

void	SetDepthBlurRadius (float Radius)

void	SetDepthOfFieldMinFstop (float MinFstop)

void	SetDetailStrength (float Val)

void	SetDirtMaskIntensity (float Intensity)

void	SetDLSSUpscale (bool Enable, float ScreenPercentage)
	Render the capture at ScreenPercentage (25-100) of the target resolution and upscale it back with DLSS Super Resolution when available (bilinear otherwise).

void	SetExposureCalibrationConstant (float Constant)

void	SetExposureCompensation (float Compensation)

void	SetExposureMaxBrightness (float Brightness)

void	SetExposureMethod (EAutoExposureMethod Method)

void	SetExposureMinBrightness (float Brightness)

void	SetExposureSpeedDown (float Speed)

void	SetExposureSpeedUp (float Speed)

void	SetFilmBlackClip (float BlackClip)

void	SetFilmGrainIntensity (float Val)

void	SetFilmShoulder (float Shoulder)

void	SetFilmSlope (float Slope)

void	SetFilmToe (float Toe)

void	SetFilmWhiteClip (float WhiteClip)

void	SetFocalDistance (float Distance)

void	SetFOVAngle (float FOVAngle)

void	SetGlobalGain (FVector4 Gain)

void	SetHighlightContrastScale (float HighlightContrastScale)

void	SetHighlightsGamma (FVector4 HighlightsGamma)

void	SetImageSize (uint32 Width, uint32 Height)

void	SetISO (float ISO)

void	SetLensFlareIntensity (float Intensity)

void	SetLocalExposureMethod (ELocalExposureMethod Method)

void	SetMotionBlurIntensity (float Intensity)

void	SetMotionBlurMaxDistortion (float MaxDistortion)

void	SetMotionBlurMinObjectScreenSize (float ScreenSize)

void	SetSceneColorTint (FLinearColor SceneColorTint)

void	SetSensorWidth (float Width)

void	SetShadowCatcherTags (const FString &CommaSeparatedLabels)
	Labels whose actors are rendered alongside the show-only set so they receive its cast shadows ("Roads,Sidewalks").

void	SetShadowContrastScale (float ShadowContrastScale)

void	SetShowOnlyActorIds (const FString &CommaSeparatedIds)
	CARLA actor ids always included in the show-only set.

void	SetShowOnlyTags (const FString &CommaSeparatedLabels)
	Show-only render mode (see FCarlaShowOnlyFilter): comma separated semantic label names.

void	SetShutterSpeed (float Speed)

void	SetTargetGamma (float InTargetGamma)

void	SetToneCurveAmount (float ToneCurveAmount)

void	SetUseRayTracing (bool Enable)

void	SetVignetteIntensity (float VignetteIntensity)

void	SetWhiteTemp (float Temp)

void	SetWhiteTint (float Tint)

virtual void	UpdatePostProcessConfig (FPostProcessConfig &InOutPostProcessConfig)

void	WaitForRenderThreadToFinish ()
	Blocks until the render thread has finished all it's tasks.

Public Member Functions inherited from ASensor
bool	AreClientsListening ()

	ASensor (const FObjectInitializer &ObjectInitializer)

void	ClearReadyToTick ()

std::optional< FActorAttribute >	GetAttribute (const FString Name)

const UCarlaEpisode &	GetEpisode () const

virtual void	GetMirrorState (carla::multigpu::SensorState &State) const
	Multi-GPU: the runtime state this sensor starts its next tick from (noise generator, sweep angle, history).

URandomEngine *	GetRandomEngine ()

float	GetReadyToTickDeltaSeconds () const

int32	GetSeed () const

auto	GetToken () const
	Return the token that allows subscribing to this sensor's stream.

bool	IsReadyToTick () const

bool	IsStreamReady ()

FDataStream	MoveDataStream ()

virtual void	OnFirstClientConnected ()

virtual void	OnLastClientDisconnected ()

void	PostPhysTickInternal (UWorld *World, ELevelTick TickType, float DeltaSeconds)

void	SetDataStream (FDataStream InStream)
	Replace the FDataStream associated with this sensor.

void	SetEpisode (const UCarlaEpisode &InEpisode)

virtual void	SetMirrorState (const carla::multigpu::SensorState &State)

void	SetPrimaryTick (float DeltaSeconds)
	Multi-GPU secondary: tick in this engine frame, with the primary's delta.

void	SetSavingDataToDisk (bool bSavingData)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Static Public Member Functions
static FActorDefinition	GetSensorDefinition ()

Static Public Member Functions inherited from ASceneCaptureSensor
static bool	ApplyPostProcessVolumeToSensor (APostProcessVolume Origin, ASceneCaptureSensor Dest, bool bOverrideCurrentCamera=false)

static bool	ResolveCameraRayTracing (bool bSensorEnabled, bool bRequired)
	Applies the `carla.Camera.UseRayTracing` tier policy to a camera's own ray-tracing preference.

Static Public Member Functions inherited from ASensor
static FSensorCaptureContext	MakeCaptureContext (const ASensor &Sensor)
	Call on the game thread right after CaptureScene().

Protected Member Functions
void	ImageToGray (const TArray< FColor > &image)

void	ImageToLogGray (const TArray< FColor > &image)

virtual void	PostPhysTick (UWorld *World, ELevelTick TickType, float DeltaTime) override

ADVSCamera::DVSEventArray	Simulation (float DeltaTime)

Protected Member Functions inherited from AShaderBasedSensor
void	SetUpSceneCaptureComponent (USceneCaptureComponent2D &SceneCapture) override

Protected Member Functions inherited from ASceneCaptureSensor
virtual void	BeginPlay () override

void	CaptureSceneExtended ()

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

bool	IsAnyGBufferClientListening () const
	Returns true if any GBuffer stream has an active listener.

virtual void	PrePhysTick (float DeltaSeconds) override

virtual bool	RequiresRayTracing () const
	True for sensors that cannot render without hardware ray tracing (path-traced lens cameras); the tier policy never switches them off.

bool	ShouldCaptureThisFrame ()
	Aggregate gate: main stream or any GBuffer stream has listeners, or CVarCarlaCameraForceAllGBuffers forces every frame.

void	UpdateExposureMotionBlur (UWorld *World, float DeltaTime)
	Motion blur from the auto exposure time (carla.Camera.ExposureMotionBlur).

Protected Member Functions inherited from ASensor
void	EndPlay (EEndPlayReason::Type EndPlayReason) override

template<typename SensorType >
FAsyncDataStream	GetDataStream (SensorType &&Self)
	Return the FDataStream associated with this sensor.

void	PostActorCreated () override

Private Types
using	DVSEventArray = std::vector<::carla::sensor::data::DVSEvent >

Private Attributes
dvs::Config	config
	DVS simulation configuration.

std::int64_t	current_time
	Current time in nanoseconds.

TArray< double >	last_event_timestamp
	Image containing time of last event in seconds.

TArray< float >	last_image
	Images containing last (current) and previous image.

TArray< float >	prev_image

TArray< float >	ref_values
	Image containing the last reference value to trigger event.

Additional Inherited Members
Public Attributes inherited from ASceneCaptureSensor
struct {

FCameraGBufferUint8 CustomDepth

FCameraGBufferUint8 CustomStencil

FCameraGBufferUint8 GBufferA

FCameraGBufferUint8 GBufferB

FCameraGBufferUint8 GBufferC

FCameraGBufferUint8 GBufferD

FCameraGBufferUint8 GBufferE

FCameraGBufferUint8 GBufferF

FCameraGBufferUint8 SceneColor

FCameraGBufferUint8 SceneDepth

FCameraGBufferUint8 SceneStencil

FCameraGBufferUint8 SSAO

FCameraGBufferUint8 Velocity

}	CameraGBuffers

Static Protected Member Functions inherited from ASensor
template<typename SensorType , typename ElementType >
static void	SendDataToClient (SensorType &&Sensor, TArrayView< ElementType > SensorData, const FSensorCaptureContext &CaptureContext)

Protected Attributes inherited from ASceneCaptureSensor
bool	bEnable16BitFormat = false
	Whether to change render target format to PF_A16B16G16R16, offering 16bit / channel.

bool	bEnableDLSSUpscale = false
	Render the capture at DLSSScreenPercentage of the target resolution and upscale back with DLSS Super Resolution (engine scene-capture temporal upscaler; bilinear fallback without NVIDIA hardware).

bool	bEnablePostProcessingEffects = true
	Whether to render the post-processing effects present in the scene.

bool	bUseRayTracing = true
	Whether this sensor uses hardware ray tracing for its scene capture.

TObjectPtr< USceneCaptureComponent2D_CARLA >	CaptureComponent2D = nullptr
	Scene capture component.

TObjectPtr< UTextureRenderTarget2D >	CaptureRenderTarget = nullptr
	Render target necessary for scene capture.

float	DLSSScreenPercentage = 50.0f
	Internal render resolution as a percentage of the target resolution when bEnableDLSSUpscale is set.

float	ExposureSeconds = 0.0f
	Exposure time of the last capture in seconds (exposure-linked motion blur).

uint32	ImageHeight = 600u
	Image height in pixels.

uint32	ImageWidth = 800u
	Image width in pixels.

double	LastCaptureTime = -1.0
	Simulation time of this sensor's previous capture (-1 before the first).

FRHIGPUReadbackPoolPtr	ReadbackPool
	Per-sensor pool of recyclable RHI readback objects.

FCarlaShowOnlyFilter	ShowOnlyFilter
	Show-only actor filter, applied to the capture component right before every capture (see FCarlaShowOnlyFilter).

float	TargetGamma = 2.2f

Protected Attributes inherited from ASensor
bool	bIsActive = false

bool	bSavingDataToDisk = false

URandomEngine *	RandomEngine = nullptr
	Random Engine used to provide noise for sensor output.

int32	Seed = 123456789
	Seed of the pseudo-random engine.

Detailed Description

Sensor that produce Dynamic Vision Events.

Definition at line 46 of file DVSCamera.h.

Member Typedef Documentation

◆ DVSEventArray

using ADVSCamera::DVSEventArray = std::vector<::carla::sensor::data::DVSEvent>

private

Definition at line 49 of file DVSCamera.h.

Constructor & Destructor Documentation

◆ ADVSCamera()

ADVSCamera::ADVSCamera ( const FObjectInitializer & ObjectInitializer )

Definition at line 33 of file DVSCamera.cpp.

References AShaderBasedSensor::AddPostProcessingMaterial(), ASceneCaptureSensor::EnablePostProcessingEffects(), and ASensor::RandomEngine.

Member Function Documentation

◆ GetSensorDefinition()

FActorDefinition ADVSCamera::GetSensorDefinition ( )

static

Definition at line 43 of file DVSCamera.cpp.

References Bool, FActorVariation::bRestrictToRecommended, Float, FActorVariation::Id, Int, UActorBlueprintFunctionLibrary::MakeCameraDefinition(), FActorVariation::RecommendedValues, and FActorVariation::Type.

◆ ImageToGray()

void ADVSCamera::ImageToGray ( const TArray< FColor > & image )

protected

Sanity check

Reserve HxW elements

Convert image to gray raw image values, one row per task

Definition at line 218 of file DVSCamera.cpp.

References FColorToGrayScaleFloat(), ASceneCaptureSensor::GetImageHeight(), ASceneCaptureSensor::GetImageWidth(), and last_image.

Referenced by PostPhysTick().

◆ ImageToLogGray()

void ADVSCamera::ImageToLogGray ( const TArray< FColor > & image )

protected

Sanity check

Reserve HxW elements

Convert image to log gray values, one row per task

Definition at line 240 of file DVSCamera.cpp.

References config, FColorToGrayScaleFloat(), ASceneCaptureSensor::GetImageHeight(), ASceneCaptureSensor::GetImageWidth(), last_image, and dvs::Config::log_eps.

Referenced by PostPhysTick().

◆ PostPhysTick()

void ADVSCamera::PostPhysTick	(	UWorld *	World,
		ELevelTick	TickType,
		float	DeltaTime
	)

overrideprotectedvirtual

Immediate enqueues render commands of the scene at the current time.

Read the image

Convert image to gray scale

DVS Simulator

Send the events

Reimplemented from ASceneCaptureSensor.

Definition at line 135 of file DVSCamera.cpp.

References ASensor::AreClientsListening(), ASceneCaptureSensor::CaptureRenderTarget, config, carla::BufferView::CreateFrom(), carla::streaming::detail::token_type::get_stream_id(), ASensor::GetAttribute(), ASensor::GetDataStream(), FCarlaEngine::GetFrameCounter(), carla::ros2::ROS2::GetInstance(), ASensor::GetToken(), ImageToGray(), ImageToLogGray(), IsValid(), PostPhysTick(), ASceneCaptureSensor::ReadPixels(), carla::sensor::CompositeSerializer< Items >::Serialize(), Simulation(), dvs::Config::use_log, and ASceneCaptureSensor::WaitForRenderThreadToFinish().

Referenced by PostPhysTick().

◆ Set()

void ADVSCamera::Set ( const FActorDescription & ActorDescription )

overridevirtual

Reimplemented from ASensor.

Definition at line 95 of file DVSCamera.cpp.

References dvs::Config::Cm, config, dvs::Config::Cp, dvs::Config::log_eps, dvs::Config::refractory_period_ns, UActorBlueprintFunctionLibrary::RetrieveActorAttributeToBool(), UActorBlueprintFunctionLibrary::RetrieveActorAttributeToFloat(), UActorBlueprintFunctionLibrary::RetrieveActorAttributeToInt(), dvs::Config::sigma_Cm, dvs::Config::sigma_Cp, dvs::Config::use_log, and FActorDescription::Variations.

◆ Simulation()

ADVSCamera::DVSEventArray ADVSCamera::Simulation ( float DeltaTime )

protected

Array of events

Sanity check

Check initialization

Set the first rendered image

Resizes array to given number of elements. New elements will be zeroed.

Reset current time

delta time in nanoseconds

Loop along the image size

Dropping event because time since last event < refractory_period_ns

Update current time

Definition at line 263 of file DVSCamera.cpp.

References dvs::Config::Cm, config, dvs::Config::Cp, current_time, ASensor::GetEpisode(), ASceneCaptureSensor::GetImageHeight(), ASceneCaptureSensor::GetImageWidth(), URandomEngine::GetNormalDistribution(), last_event_timestamp, last_image, dvs::nanosecToSecTrunc(), prev_image, ASensor::RandomEngine, ref_values, dvs::Config::refractory_period_ns, dvs::secToNanosec(), dvs::Config::sigma_Cm, dvs::Config::sigma_Cp, x, and y.

Referenced by PostPhysTick().

Member Data Documentation

◆ config

dvs::Config ADVSCamera::config

private

DVS simulation configuration.

Definition at line 76 of file DVSCamera.h.

Referenced by ImageToLogGray(), PostPhysTick(), Set(), and Simulation().

◆ current_time

std::int64_t ADVSCamera::current_time

private

Current time in nanoseconds.

Definition at line 73 of file DVSCamera.h.

Referenced by Simulation().

◆ last_event_timestamp

TArray<double> ADVSCamera::last_event_timestamp

private

Image containing time of last event in seconds.

Definition at line 70 of file DVSCamera.h.

Referenced by Simulation().

◆ last_image

TArray<float> ADVSCamera::last_image

private

Images containing last (current) and previous image.

Definition at line 64 of file DVSCamera.h.

Referenced by ImageToGray(), ImageToLogGray(), and Simulation().

◆ prev_image

TArray<float> ADVSCamera::prev_image

private

Definition at line 64 of file DVSCamera.h.

Referenced by Simulation().

◆ ref_values

TArray<float> ADVSCamera::ref_values

private

Image containing the last reference value to trigger event.

Definition at line 67 of file DVSCamera.h.

Referenced by Simulation().

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ DVSEventArray

Constructor & Destructor Documentation

◆ ADVSCamera()

Member Function Documentation

◆ GetSensorDefinition()

◆ ImageToGray()

◆ ImageToLogGray()

◆ PostPhysTick()

◆ Set()

◆ Simulation()

Member Data Documentation

◆ config

◆ current_time

◆ last_event_timestamp

◆ last_image

◆ prev_image

◆ ref_values