#include <SceneCaptureSensor_WideAngleLens.h>

Inheritance diagram for ASceneCaptureSensor_WideAngleLens:

Public Member Functions
	ASceneCaptureSensor_WideAngleLens (const FObjectInitializer &ObjectInitializer)

void	EnablePostProcessingEffects (bool Enable=true)

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

const TArray< float > &	GetCameraCoefficients () const

ECameraModel	GetCameraModel () const

TArrayView< USceneCaptureComponent2D_CARLA * >	GetCaptureComponents2D ()

UTextureRenderTarget2D *	GetCaptureRenderTarget ()

const FRHISamplerState *	GetCubemapSampler () const

int32	GetFaceSize () const

float	GetFocalLength () const

float	GetFOVAngle () const

float	GetFOVAngleX () const

float	GetFOVAngleY () const

float	GetFOVFadeSize () const

bool	GetFOVMaskEnable () const

uint32	GetImageHeight () const

FIntPoint	GetImageSize () const

uint32	GetImageWidth () const

const TArray< float > &	GetLensLUT () const

float	GetLensThetaMax () const

FRHIGPUReadbackPoolPtr	GetReadbackPool () const
	Recycling pool of GPU readback staging buffers for the projected image (created in BeginPlay, dropped in EndPlay), as ASceneCaptureSensor owns one for the pinhole cameras; without it every frame allocated a fresh staging buffer.

bool	GetRenderEquirectangular () const

float	GetRenderEquirectangularLongitudeOffset () const

bool	GetRenderPerspective () const

const FCarlaShowOnlyFilter &	GetShowOnlyFilter () const

float	GetTargetGamma () const

bool	GetUseRayTracing () const

bool	HasExplicitLensIntrinsics () const

bool	IsShowOnlyEnabled () const

void	Set (const FActorDescription &ActorDescription) override

void	SetCameraCoefficients (const TArray< float > &Coefficients)

void	SetCameraCoefficients (TArrayView< const float > Coefficients)

void	SetCameraModel (ECameraModel NewCameraModel)

void	SetCubemapSampler (FRHISamplerState *NewCubemapSampler)

void	SetFaceSize (int32 Side)
	Side length in pixels of the six cube-face render targets.

void	SetFocalLength (float NewFocalLength)

void	SetFOVAngle (float NewFOV)

void	SetFOVFadeSize (float NewFOVFadeSize)

void	SetFOVMaskEnable (bool bEnable)

void	SetImageSize (int32 Width, int32 Height)

void	SetImageSize (uint32 Width, uint32 Height)

void	SetLensIntrinsics (float Fx, float Fy, float Cx, float Cy)
	Explicit intrinsics in normalized viewport units, the same convention as sensor.camera.rt_lens: x_px = (Cx + Fx * R * cos(phi)) * Width, y_px = (Cy + Fy * R * sin(phi)) * Height.

void	SetLensLUT (const TArray< float > &Samples, float ThetaMaxRadians)
	LUT1D camera model: R(Theta) samples, uniformly spaced over [0, ThetaMaxRadians], monotonically non-decreasing, in the normalized units of the lens intrinsics (pixel = c + f * R, see SetLensIntrinsics).

void	SetRenderEquirectangular (bool bEnable)

void	SetRenderEquirectangularLongitudeOffset (float Shift)

void	SetRenderPerspective (bool bEnable)

void	SetShadowCatcherTags (const FString &CommaSeparatedLabels)

void	SetShowOnlyActorIds (const FString &CommaSeparatedIds)

void	SetShowOnlyTags (const FString &CommaSeparatedLabels)
	Show-only render mode (see FCarlaShowOnlyFilter); applied to all six face captures.

void	SetTargetGamma (float Gamma)

void	SetUseRayTracing (bool Enable)

void	WaitForRenderThreadToFinish ()
	Blocks until the render thread has finished all its 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
template<typename TSensor >
static void	CaptureAndSendToClient (TSensor &Sensor)
	Capture the six faces, project them into the lens, and deliver the image through ImageUtil's per-tick batched readback – the same path as every raster camera (ASceneCaptureCamera::PostPhysTick).

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

Protected Member Functions
virtual void	BeginPlay () override

void	CaptureSceneExtended ()

uint8	ComputeCubemapRenderMask () const

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

uint8	FindFaceIndex (FVector2D UV) const

virtual FLinearColor	GetInvalidPixelColor () const
	Colour written to pixels the lens maps no ray to (LUT1D beyond its last sample).

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

virtual void	PrePhysTick (float DeltaSeconds) override

virtual void	SetUpSceneCaptureComponents (TArrayView< USceneCaptureComponent2D_CARLA * > SceneCaptures)

float	VerticalToHorizontal (float Value) const

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

Protected Attributes
bool	bEnable16BitFormat: 1

bool	bEnablePostProcessingEffects: 1

bool	bExplicitIntrinsics: 1

bool	bFOVMaskEnable: 1

bool	bRenderEquirectangular: 1

bool	bRenderPerspective: 1

bool	bUseRayTracing: 1

ECameraModel	CameraModel

UTextureRenderTarget2D *	CaptureRenderTarget

uint8	CubemapRenderMask

FRHISamplerState *	CubemapSampler

TArray< USceneCaptureComponent2D_CARLA * >	FaceCaptures

TArray< UTextureRenderTarget2D * >	FaceRenderTargets

int32	FaceSize = 0

float	FOVFadeSize

uint32	ImageHeight

uint32	ImageWidth

TArray< float >	KannalaBrandtCameraCoefficients

FVector4f	LensIntrinsics

TArray< float >	LensLUT

float	LensThetaMax

float	LongitudeOffset

int32	NumCaptures = 0
	Captures rendered as camera cuts since BeginPlay (carla.Camera.SpawnCameraCuts).

FRHIGPUReadbackPoolPtr	ReadbackPool

FCarlaShowOnlyFilter	ShowOnlyFilter
	Show-only actor filter, applied to every face capture right before the faces are captured (see FCarlaShowOnlyFilter).

float	TargetGamma

float	XFOVAngle

float	YFocalLength

float	YFOVAngle

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.

Friends
class	ACarlaGameModeBase

class	FPixelReader

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

Detailed Description

Definition at line 30 of file SceneCaptureSensor_WideAngleLens.h.

Constructor & Destructor Documentation

◆ ASceneCaptureSensor_WideAngleLens()

ASceneCaptureSensor_WideAngleLens::ASceneCaptureSensor_WideAngleLens ( const FObjectInitializer & ObjectInitializer )

Definition at line 69 of file SceneCaptureSensor_WideAngleLens.cpp.

Member Function Documentation

◆ BeginPlay()

void ASceneCaptureSensor_WideAngleLens::BeginPlay ( )

overrideprotectedvirtual

Reimplemented from ASensor.

Reimplemented in ASceneCaptureCamera_WideAngleLens.

Definition at line 696 of file SceneCaptureSensor_WideAngleLens.cpp.

References bEnable16BitFormat, bEnablePostProcessingEffects, CaptureRenderTarget, FaceCaptures, FaceRenderTargets, FaceSize, ASensor::GetEpisode(), GetImageHeight(), GetImageWidth(), UCarlaEpisode::GetWeather(), AWeather::NotifyWeather(), ReadbackPool, SceneCaptureSensorWideAngleLens_local_ns::SetCameraDefaultOverrides(), SetUpSceneCaptureComponents(), TargetGamma, and Weather.

◆ CaptureAndSendToClient()

template<typename TSensor >

static void ASceneCaptureSensor_WideAngleLens::CaptureAndSendToClient ( TSensor & Sensor )

inlinestatic

Capture the six faces, project them into the lens, and deliver the image through ImageUtil's per-tick batched readback – the same path as every raster camera (ASceneCaptureCamera::PostPhysTick).

The previous FPixelReader::SendPixelsInRenderThread path locked the GPU readback on a worker thread, which asserts IsInRenderingThread() on UE 5.8.

Definition at line 254 of file SceneCaptureSensor_WideAngleLens.h.

References ASensor::MakeCaptureContext(), and ImageUtil::ReadImageDataAsyncFColor().

Referenced by ADepthCamera_WideAngleLens::PostPhysTick(), AInstanceSegmentationCamera_WideAngleLens::PostPhysTick(), ASceneCaptureCamera_WideAngleLens::PostPhysTick(), and ASemanticSegmentationCamera_WideAngleLens::PostPhysTick().

◆ CaptureSceneExtended()

void ASceneCaptureSensor_WideAngleLens::CaptureSceneExtended ( )

protected

Definition at line 517 of file SceneCaptureSensor_WideAngleLens.cpp.

Referenced by CaptureSceneExtended(), and EnqueueRenderSceneImmediate().

◆ ComputeCubemapRenderMask()

uint8 ASceneCaptureSensor_WideAngleLens::ComputeCubemapRenderMask ( ) const

protected

Definition at line 474 of file SceneCaptureSensor_WideAngleLens.cpp.

References bRenderEquirectangular, CameraModel, GetFOVAngleX(), GetFOVAngleY(), GetFOVMaskEnable(), LensThetaMax, and LUT1D.

Referenced by SetCameraCoefficients(), SetCameraModel(), SetFocalLength(), SetFOVAngle(), SetFOVMaskEnable(), SetImageSize(), SetLensIntrinsics(), SetLensLUT(), SetRenderEquirectangular(), and SetRenderPerspective().

◆ EnablePostProcessingEffects()

void ASceneCaptureSensor_WideAngleLens::EnablePostProcessingEffects ( bool Enable = true )

inline

Definition at line 81 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by ASceneCaptureCamera_WideAngleLens::ASceneCaptureCamera_WideAngleLens(), AShaderBasedSensor_WideAngleLens::AShaderBasedSensor_WideAngleLens(), and UActorBlueprintFunctionLibrary::SetCamera().

◆ EndPlay()

void ASceneCaptureSensor_WideAngleLens::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprotectedvirtual

Reimplemented in ASceneCaptureCamera_WideAngleLens.

Definition at line 801 of file SceneCaptureSensor_WideAngleLens.cpp.

References CaptureRenderTarget, FaceCaptures, FaceRenderTargets, and ReadbackPool.

◆ EnqueueRenderSceneImmediate()

void ASceneCaptureSensor_WideAngleLens::EnqueueRenderSceneImmediate ( )

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

Definition at line 427 of file SceneCaptureSensor_WideAngleLens.cpp.

References CaptureSceneExtended(), and EnqueueRenderSceneImmediate().

Referenced by EnqueueRenderSceneImmediate().

◆ FindFaceIndex()

uint8 ASceneCaptureSensor_WideAngleLens::FindFaceIndex ( FVector2D UV ) const

protected

Definition at line 433 of file SceneCaptureSensor_WideAngleLens.cpp.

References BrownConrady, CameraModel, CameraModelUtil::ComputeAngle(), KannalaBrandtCameraCoefficients, LensLUT, LensThetaMax, LUT1D, Perspective, and CameraModelUtil::LUT1D::SampleInverse().

◆ GetCameraCoefficients()

const TArray< float > & ASceneCaptureSensor_WideAngleLens::GetCameraCoefficients ( ) const

Definition at line 336 of file SceneCaptureSensor_WideAngleLens.cpp.

References KannalaBrandtCameraCoefficients.

◆ GetCameraModel()

ECameraModel ASceneCaptureSensor_WideAngleLens::GetCameraModel ( ) const

Definition at line 227 of file SceneCaptureSensor_WideAngleLens.cpp.

References CameraModel.

◆ GetCaptureComponents2D()

TArrayView< USceneCaptureComponent2D_CARLA * > ASceneCaptureSensor_WideAngleLens::GetCaptureComponents2D ( )

Definition at line 835 of file SceneCaptureSensor_WideAngleLens.cpp.

References FaceCaptures.

Referenced by PrePhysTick(), and UActorBlueprintFunctionLibrary::SetCamera().

◆ GetCaptureRenderTarget()

UTextureRenderTarget2D * ASceneCaptureSensor_WideAngleLens::GetCaptureRenderTarget ( )

Definition at line 341 of file SceneCaptureSensor_WideAngleLens.cpp.

References CaptureRenderTarget.

◆ GetCubemapSampler()

const FRHISamplerState * ASceneCaptureSensor_WideAngleLens::GetCubemapSampler ( ) const

inline

Definition at line 194 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetFaceSize()

int32 ASceneCaptureSensor_WideAngleLens::GetFaceSize ( ) const

inline

Definition at line 59 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetFocalLength()

float ASceneCaptureSensor_WideAngleLens::GetFocalLength ( ) const

Definition at line 303 of file SceneCaptureSensor_WideAngleLens.cpp.

References YFocalLength.

◆ GetFOVAngle()

float ASceneCaptureSensor_WideAngleLens::GetFOVAngle ( ) const

Definition at line 242 of file SceneCaptureSensor_WideAngleLens.cpp.

References YFOVAngle.

◆ GetFOVAngleX()

float ASceneCaptureSensor_WideAngleLens::GetFOVAngleX ( ) const

Definition at line 252 of file SceneCaptureSensor_WideAngleLens.cpp.

References XFOVAngle.

Referenced by ComputeCubemapRenderMask().

◆ GetFOVAngleY()

float ASceneCaptureSensor_WideAngleLens::GetFOVAngleY ( ) const

Definition at line 247 of file SceneCaptureSensor_WideAngleLens.cpp.

References YFOVAngle.

Referenced by ComputeCubemapRenderMask().

◆ GetFOVFadeSize()

float ASceneCaptureSensor_WideAngleLens::GetFOVFadeSize ( ) const

Definition at line 396 of file SceneCaptureSensor_WideAngleLens.cpp.

References FOVFadeSize.

◆ GetFOVMaskEnable()

bool ASceneCaptureSensor_WideAngleLens::GetFOVMaskEnable ( ) const

Definition at line 381 of file SceneCaptureSensor_WideAngleLens.cpp.

References bFOVMaskEnable.

Referenced by ComputeCubemapRenderMask(), and UActorBlueprintFunctionLibrary::SetCamera().

◆ GetImageHeight()

uint32 ASceneCaptureSensor_WideAngleLens::GetImageHeight ( ) const

inline

Definition at line 69 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), and VerticalToHorizontal().

◆ GetImageSize()

FIntPoint ASceneCaptureSensor_WideAngleLens::GetImageSize ( ) const

inline

Definition at line 75 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetImageWidth()

uint32 ASceneCaptureSensor_WideAngleLens::GetImageWidth ( ) const

inline

Definition at line 64 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), and VerticalToHorizontal().

◆ GetInvalidPixelColor()

virtual FLinearColor ASceneCaptureSensor_WideAngleLens::GetInvalidPixelColor ( ) const

inlineprotectedvirtual

Colour written to pixels the lens maps no ray to (LUT1D beyond its last sample).

Black for colour and label sensors; the depth sensor overrides it with white, which decodes to the far plane.

Reimplemented in ADepthCamera_WideAngleLens.

Definition at line 309 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended().

◆ GetLensLUT()

const TArray< float > & ASceneCaptureSensor_WideAngleLens::GetLensLUT ( ) const

inline

Definition at line 125 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetLensThetaMax()

float ASceneCaptureSensor_WideAngleLens::GetLensThetaMax ( ) const

inline

Definition at line 131 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetReadbackPool()

FRHIGPUReadbackPoolPtr ASceneCaptureSensor_WideAngleLens::GetReadbackPool ( ) const

inline

Recycling pool of GPU readback staging buffers for the projected image (created in BeginPlay, dropped in EndPlay), as ASceneCaptureSensor owns one for the pinhole cameras; without it every frame allocated a fresh staging buffer.

Definition at line 203 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetRenderEquirectangular()

bool ASceneCaptureSensor_WideAngleLens::GetRenderEquirectangular ( ) const

Definition at line 366 of file SceneCaptureSensor_WideAngleLens.cpp.

References bRenderEquirectangular.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ GetRenderEquirectangularLongitudeOffset()

float ASceneCaptureSensor_WideAngleLens::GetRenderEquirectangularLongitudeOffset ( ) const

Definition at line 406 of file SceneCaptureSensor_WideAngleLens.cpp.

References LongitudeOffset, and RadToDeg.

◆ GetRenderPerspective()

bool ASceneCaptureSensor_WideAngleLens::GetRenderPerspective ( ) const

Definition at line 351 of file SceneCaptureSensor_WideAngleLens.cpp.

References bRenderPerspective.

◆ GetShowOnlyFilter()

const FCarlaShowOnlyFilter & ASceneCaptureSensor_WideAngleLens::GetShowOnlyFilter ( ) const

inline

Definition at line 240 of file SceneCaptureSensor_WideAngleLens.h.

◆ GetTargetGamma()

float ASceneCaptureSensor_WideAngleLens::GetTargetGamma ( ) const

Definition at line 346 of file SceneCaptureSensor_WideAngleLens.cpp.

References TargetGamma.

◆ GetUseRayTracing()

bool ASceneCaptureSensor_WideAngleLens::GetUseRayTracing ( ) const

inline

Definition at line 209 of file SceneCaptureSensor_WideAngleLens.h.

◆ HasExplicitLensIntrinsics()

bool ASceneCaptureSensor_WideAngleLens::HasExplicitLensIntrinsics ( ) const

inline

Definition at line 145 of file SceneCaptureSensor_WideAngleLens.h.

◆ IsShowOnlyEnabled()

bool ASceneCaptureSensor_WideAngleLens::IsShowOnlyEnabled ( ) const

inline

Definition at line 235 of file SceneCaptureSensor_WideAngleLens.h.

◆ PostPhysTick()

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

overrideprotectedvirtual

Reimplemented from ASensor.

Reimplemented in ADepthCamera_WideAngleLens, AInstanceSegmentationCamera_WideAngleLens, ASceneCaptureCamera_WideAngleLens, and ASemanticSegmentationCamera_WideAngleLens.

Definition at line 796 of file SceneCaptureSensor_WideAngleLens.cpp.

◆ PrePhysTick()

void ASceneCaptureSensor_WideAngleLens::PrePhysTick ( float DeltaSeconds )

overrideprotectedvirtual

Reimplemented from ASensor.

Definition at line 778 of file SceneCaptureSensor_WideAngleLens.cpp.

References GetCaptureComponents2D(), and ImageWidth.

◆ Set()

void ASceneCaptureSensor_WideAngleLens::Set ( const FActorDescription & ActorDescription )

overridevirtual

Reimplemented from ASensor.

Reimplemented in AShaderBasedSensor_WideAngleLens.

Definition at line 201 of file SceneCaptureSensor_WideAngleLens.cpp.

References UActorBlueprintFunctionLibrary::SetCamera().

◆ SetCameraCoefficients() [1/2]

void ASceneCaptureSensor_WideAngleLens::SetCameraCoefficients ( const TArray< float > & Coefficients )

Definition at line 331 of file SceneCaptureSensor_WideAngleLens.cpp.

References SetCameraCoefficients().

◆ SetCameraCoefficients() [2/2]

void ASceneCaptureSensor_WideAngleLens::SetCameraCoefficients ( TArrayView< const float > Coefficients )

Definition at line 318 of file SceneCaptureSensor_WideAngleLens.cpp.

References ComputeCubemapRenderMask(), CubemapRenderMask, and KannalaBrandtCameraCoefficients.

Referenced by UActorBlueprintFunctionLibrary::SetCamera(), and SetCameraCoefficients().

◆ SetCameraModel()

void ASceneCaptureSensor_WideAngleLens::SetCameraModel ( ECameraModel NewCameraModel )

Definition at line 232 of file SceneCaptureSensor_WideAngleLens.cpp.

References CameraModel, ComputeCubemapRenderMask(), and CubemapRenderMask.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetCubemapSampler()

void ASceneCaptureSensor_WideAngleLens::SetCubemapSampler ( FRHISamplerState * NewCubemapSampler )

inline

Definition at line 189 of file SceneCaptureSensor_WideAngleLens.h.

◆ SetFaceSize()

void ASceneCaptureSensor_WideAngleLens::SetFaceSize ( int32 Side )

inline

Side length in pixels of the six cube-face render targets.

0 (default) uses max(ImageWidth, ImageHeight). Smaller faces cost less GPU memory (each face carries a full scene view); a 120 deg lens at 1920 px is sampled at ~16 px/deg in the centre, which a 1280 px face still meets.

Definition at line 53 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetFocalLength()

void ASceneCaptureSensor_WideAngleLens::SetFocalLength ( float NewFocalLength )

Definition at line 308 of file SceneCaptureSensor_WideAngleLens.cpp.

References ComputeCubemapRenderMask(), CubemapRenderMask, and YFocalLength.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetFOVAngle()

void ASceneCaptureSensor_WideAngleLens::SetFOVAngle ( float NewFOV )

Definition at line 260 of file SceneCaptureSensor_WideAngleLens.cpp.

References BrownConrady, CameraModel, ComputeCubemapRenderMask(), CameraModelUtil::ComputeDistance(), CubemapRenderMask, DegToRad, ImageHeight, KannalaBrandtCameraCoefficients, LUT1D, VerticalToHorizontal(), XFOVAngle, YFocalLength, and YFOVAngle.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetFOVFadeSize()

void ASceneCaptureSensor_WideAngleLens::SetFOVFadeSize ( float NewFOVFadeSize )

Definition at line 401 of file SceneCaptureSensor_WideAngleLens.cpp.

References FOVFadeSize.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetFOVMaskEnable()

void ASceneCaptureSensor_WideAngleLens::SetFOVMaskEnable ( bool bEnable )

Definition at line 386 of file SceneCaptureSensor_WideAngleLens.cpp.

References bFOVMaskEnable, ComputeCubemapRenderMask(), and CubemapRenderMask.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetImageSize() [1/2]

void ASceneCaptureSensor_WideAngleLens::SetImageSize	(	int32	Width,
		int32	Height
	)

Definition at line 218 of file SceneCaptureSensor_WideAngleLens.cpp.

References SetImageSize().

Referenced by UActorBlueprintFunctionLibrary::SetCamera(), and SetImageSize().

◆ SetImageSize() [2/2]

void ASceneCaptureSensor_WideAngleLens::SetImageSize	(	uint32	Width,
		uint32	Height
	)

Definition at line 207 of file SceneCaptureSensor_WideAngleLens.cpp.

References ComputeCubemapRenderMask(), CubemapRenderMask, ImageHeight, and ImageWidth.

◆ SetLensIntrinsics()

void ASceneCaptureSensor_WideAngleLens::SetLensIntrinsics	(	float	Fx,
		float	Fy,
		float	Cx,
		float	Cy
	)

Explicit intrinsics in normalized viewport units, the same convention as sensor.camera.rt_lens: x_px = (Cx + Fx * R * cos(phi)) * Width, y_px = (Cy + Fy * R * sin(phi)) * Height.

Fx <= 0 disables the override and the projection falls back to the fov / focal_length attributes with the principal point at the image centre.

Definition at line 291 of file SceneCaptureSensor_WideAngleLens.cpp.

References bExplicitIntrinsics, ComputeCubemapRenderMask(), CubemapRenderMask, and LensIntrinsics.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetLensLUT()

void ASceneCaptureSensor_WideAngleLens::SetLensLUT	(	const TArray< float > &	Samples,
		float	ThetaMaxRadians
	)

LUT1D camera model: R(Theta) samples, uniformly spaced over [0, ThetaMaxRadians], monotonically non-decreasing, in the normalized units of the lens intrinsics (pixel = c + f * R, see SetLensIntrinsics).

Definition at line 284 of file SceneCaptureSensor_WideAngleLens.cpp.

References ComputeCubemapRenderMask(), CubemapRenderMask, LensLUT, and LensThetaMax.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetRenderEquirectangular()

void ASceneCaptureSensor_WideAngleLens::SetRenderEquirectangular ( bool bEnable )

Definition at line 371 of file SceneCaptureSensor_WideAngleLens.cpp.

References bRenderEquirectangular, ComputeCubemapRenderMask(), and CubemapRenderMask.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetRenderEquirectangularLongitudeOffset()

void ASceneCaptureSensor_WideAngleLens::SetRenderEquirectangularLongitudeOffset ( float Shift )

Definition at line 411 of file SceneCaptureSensor_WideAngleLens.cpp.

References DegToRad, and LongitudeOffset.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetRenderPerspective()

void ASceneCaptureSensor_WideAngleLens::SetRenderPerspective ( bool bEnable )

Definition at line 356 of file SceneCaptureSensor_WideAngleLens.cpp.

References bRenderPerspective, ComputeCubemapRenderMask(), and CubemapRenderMask.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetShadowCatcherTags()

void ASceneCaptureSensor_WideAngleLens::SetShadowCatcherTags ( const FString & CommaSeparatedLabels )

inline

Definition at line 223 of file SceneCaptureSensor_WideAngleLens.h.

◆ SetShowOnlyActorIds()

void ASceneCaptureSensor_WideAngleLens::SetShowOnlyActorIds ( const FString & CommaSeparatedIds )

inline

Definition at line 229 of file SceneCaptureSensor_WideAngleLens.h.

◆ SetShowOnlyTags()

void ASceneCaptureSensor_WideAngleLens::SetShowOnlyTags ( const FString & CommaSeparatedLabels )

inline

Show-only render mode (see FCarlaShowOnlyFilter); applied to all six face captures.

Definition at line 217 of file SceneCaptureSensor_WideAngleLens.h.

◆ SetTargetGamma()

void ASceneCaptureSensor_WideAngleLens::SetTargetGamma ( float Gamma )

Definition at line 298 of file SceneCaptureSensor_WideAngleLens.cpp.

References TargetGamma.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

◆ SetUpSceneCaptureComponents()

virtual void ASceneCaptureSensor_WideAngleLens::SetUpSceneCaptureComponents ( TArrayView< USceneCaptureComponent2D_CARLA * > SceneCaptures )

inlineprotectedvirtual

Reimplemented in AInstanceSegmentationCamera_WideAngleLens, ASemanticSegmentationCamera_WideAngleLens, and AShaderBasedSensor_WideAngleLens.

Definition at line 304 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay().

◆ SetUseRayTracing()

void ASceneCaptureSensor_WideAngleLens::SetUseRayTracing ( bool Enable )

Definition at line 417 of file SceneCaptureSensor_WideAngleLens.cpp.

References bUseRayTracing, FaceCaptures, and ASceneCaptureSensor::ResolveCameraRayTracing().

◆ VerticalToHorizontal()

float ASceneCaptureSensor_WideAngleLens::VerticalToHorizontal ( float Value ) const

protected

Definition at line 840 of file SceneCaptureSensor_WideAngleLens.cpp.

References GetImageHeight(), and GetImageWidth().

Referenced by SetFOVAngle().

◆ WaitForRenderThreadToFinish()

void ASceneCaptureSensor_WideAngleLens::WaitForRenderThreadToFinish ( )

inline

Blocks until the render thread has finished all its tasks.

Definition at line 278 of file SceneCaptureSensor_WideAngleLens.h.

References WaitForRenderThreadToFinish().

Referenced by WaitForRenderThreadToFinish().

Friends And Related Symbol Documentation

◆ ACarlaGameModeBase

friend class ACarlaGameModeBase

friend

Definition at line 34 of file SceneCaptureSensor_WideAngleLens.h.

◆ FPixelReader

friend class FPixelReader

friend

Definition at line 35 of file SceneCaptureSensor_WideAngleLens.h.

Member Data Documentation

◆ bEnable16BitFormat

bool ASceneCaptureSensor_WideAngleLens::bEnable16BitFormat

protected

Definition at line 384 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay().

◆ bEnablePostProcessingEffects

bool ASceneCaptureSensor_WideAngleLens::bEnablePostProcessingEffects

protected

Definition at line 383 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay().

◆ bExplicitIntrinsics

bool ASceneCaptureSensor_WideAngleLens::bExplicitIntrinsics

protected

Definition at line 388 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), and SetLensIntrinsics().

◆ bFOVMaskEnable

bool ASceneCaptureSensor_WideAngleLens::bFOVMaskEnable

protected

Definition at line 387 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetFOVMaskEnable(), and SetFOVMaskEnable().

◆ bRenderEquirectangular

bool ASceneCaptureSensor_WideAngleLens::bRenderEquirectangular

protected

Definition at line 386 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), ComputeCubemapRenderMask(), GetRenderEquirectangular(), and SetRenderEquirectangular().

◆ bRenderPerspective

bool ASceneCaptureSensor_WideAngleLens::bRenderPerspective

protected

Definition at line 385 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetRenderPerspective(), and SetRenderPerspective().

◆ bUseRayTracing

bool ASceneCaptureSensor_WideAngleLens::bUseRayTracing

protected

Definition at line 382 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by SetUseRayTracing().

◆ CameraModel

ECameraModel ASceneCaptureSensor_WideAngleLens::CameraModel

protected

Definition at line 337 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), ComputeCubemapRenderMask(), FindFaceIndex(), GetCameraModel(), SetCameraModel(), and SetFOVAngle().

◆ CaptureRenderTarget

UTextureRenderTarget2D* ASceneCaptureSensor_WideAngleLens::CaptureRenderTarget

protected

Definition at line 325 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), CaptureSceneExtended(), EndPlay(), and GetCaptureRenderTarget().

◆ CubemapRenderMask

uint8 ASceneCaptureSensor_WideAngleLens::CubemapRenderMask

protected

Definition at line 374 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), SetCameraCoefficients(), SetCameraModel(), SetFocalLength(), SetFOVAngle(), SetFOVMaskEnable(), SetImageSize(), SetLensIntrinsics(), SetLensLUT(), SetRenderEquirectangular(), and SetRenderPerspective().

◆ CubemapSampler

FRHISamplerState* ASceneCaptureSensor_WideAngleLens::CubemapSampler

protected

Definition at line 376 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended().

◆ FaceCaptures

TArray<USceneCaptureComponent2D_CARLA*> ASceneCaptureSensor_WideAngleLens::FaceCaptures

protected

Definition at line 317 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), CaptureSceneExtended(), EndPlay(), GetCaptureComponents2D(), and SetUseRayTracing().

◆ FaceRenderTargets

TArray<UTextureRenderTarget2D*> ASceneCaptureSensor_WideAngleLens::FaceRenderTargets

protected

Definition at line 320 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), CaptureSceneExtended(), and EndPlay().

◆ FaceSize

int32 ASceneCaptureSensor_WideAngleLens::FaceSize = 0

protected

Definition at line 360 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay().

◆ FOVFadeSize

float ASceneCaptureSensor_WideAngleLens::FOVFadeSize

protected

Definition at line 372 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetFOVFadeSize(), and SetFOVFadeSize().

◆ ImageHeight

uint32 ASceneCaptureSensor_WideAngleLens::ImageHeight

protected

Definition at line 334 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), SetFOVAngle(), and SetImageSize().

◆ ImageWidth

uint32 ASceneCaptureSensor_WideAngleLens::ImageWidth

protected

Definition at line 331 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), PrePhysTick(), and SetImageSize().

◆ KannalaBrandtCameraCoefficients

TArray<float> ASceneCaptureSensor_WideAngleLens::KannalaBrandtCameraCoefficients

protected

Definition at line 340 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), FindFaceIndex(), GetCameraCoefficients(), SetCameraCoefficients(), and SetFOVAngle().

◆ LensIntrinsics

FVector4f ASceneCaptureSensor_WideAngleLens::LensIntrinsics

protected

Definition at line 350 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), and SetLensIntrinsics().

◆ LensLUT

TArray<float> ASceneCaptureSensor_WideAngleLens::LensLUT

protected

Definition at line 343 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), FindFaceIndex(), and SetLensLUT().

◆ LensThetaMax

float ASceneCaptureSensor_WideAngleLens::LensThetaMax

protected

Definition at line 346 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), ComputeCubemapRenderMask(), FindFaceIndex(), and SetLensLUT().

◆ LongitudeOffset

float ASceneCaptureSensor_WideAngleLens::LongitudeOffset

protected

Definition at line 369 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetRenderEquirectangularLongitudeOffset(), and SetRenderEquirectangularLongitudeOffset().

◆ NumCaptures

int32 ASceneCaptureSensor_WideAngleLens::NumCaptures = 0

protected

Captures rendered as camera cuts since BeginPlay (carla.Camera.SpawnCameraCuts).

Definition at line 363 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended().

◆ ReadbackPool

FRHIGPUReadbackPoolPtr ASceneCaptureSensor_WideAngleLens::ReadbackPool

protected

Definition at line 322 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), and EndPlay().

◆ ShowOnlyFilter

FCarlaShowOnlyFilter ASceneCaptureSensor_WideAngleLens::ShowOnlyFilter

protected

Show-only actor filter, applied to every face capture right before the faces are captured (see FCarlaShowOnlyFilter).

Definition at line 380 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended().

◆ TargetGamma

float ASceneCaptureSensor_WideAngleLens::TargetGamma

protected

Definition at line 328 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by BeginPlay(), GetTargetGamma(), and SetTargetGamma().

◆ XFOVAngle

float ASceneCaptureSensor_WideAngleLens::XFOVAngle

protected

Definition at line 356 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by GetFOVAngleX(), and SetFOVAngle().

◆ YFocalLength

float ASceneCaptureSensor_WideAngleLens::YFocalLength

protected

Definition at line 366 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetFocalLength(), SetFocalLength(), and SetFOVAngle().

◆ YFOVAngle

float ASceneCaptureSensor_WideAngleLens::YFOVAngle

protected

Definition at line 353 of file SceneCaptureSensor_WideAngleLens.h.

Referenced by CaptureSceneExtended(), GetFOVAngle(), GetFOVAngleY(), and SetFOVAngle().

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ASceneCaptureSensor_WideAngleLens()

Member Function Documentation

◆ BeginPlay()

◆ CaptureAndSendToClient()

◆ CaptureSceneExtended()

◆ ComputeCubemapRenderMask()

◆ EnablePostProcessingEffects()

◆ EndPlay()

◆ EnqueueRenderSceneImmediate()

◆ FindFaceIndex()

◆ GetCameraCoefficients()

◆ GetCameraModel()

◆ GetCaptureComponents2D()

◆ GetCaptureRenderTarget()

◆ GetCubemapSampler()

◆ GetFaceSize()

◆ GetFocalLength()

◆ GetFOVAngle()

◆ GetFOVAngleX()

◆ GetFOVAngleY()

◆ GetFOVFadeSize()

◆ GetFOVMaskEnable()

◆ GetImageHeight()

◆ GetImageSize()

◆ GetImageWidth()

◆ GetInvalidPixelColor()

◆ GetLensLUT()

◆ GetLensThetaMax()

◆ GetReadbackPool()

◆ GetRenderEquirectangular()

◆ GetRenderEquirectangularLongitudeOffset()

◆ GetRenderPerspective()

◆ GetShowOnlyFilter()

◆ GetTargetGamma()

◆ GetUseRayTracing()

◆ HasExplicitLensIntrinsics()

◆ IsShowOnlyEnabled()

◆ PostPhysTick()

◆ PrePhysTick()

◆ Set()

◆ SetCameraCoefficients() [1/2]

◆ SetCameraCoefficients() [2/2]

◆ SetCameraModel()

◆ SetCubemapSampler()

◆ SetFaceSize()

◆ SetFocalLength()

◆ SetFOVAngle()

◆ SetFOVFadeSize()

◆ SetFOVMaskEnable()

◆ SetImageSize() [1/2]

◆ SetImageSize() [2/2]

◆ SetLensIntrinsics()

◆ SetLensLUT()

◆ SetRenderEquirectangular()

◆ SetRenderEquirectangularLongitudeOffset()

◆ SetRenderPerspective()

◆ SetShadowCatcherTags()

◆ SetShowOnlyActorIds()

◆ SetShowOnlyTags()

◆ SetTargetGamma()

◆ SetUpSceneCaptureComponents()

◆ SetUseRayTracing()

◆ VerticalToHorizontal()

◆ WaitForRenderThreadToFinish()

Friends And Related Symbol Documentation

◆ ACarlaGameModeBase

◆ FPixelReader

Member Data Documentation

◆ bEnable16BitFormat

◆ bEnablePostProcessingEffects

◆ bExplicitIntrinsics

◆ bFOVMaskEnable