A sensor that produces data by applying post-process materials (shaders) to a scene capture image. More...

#include <ShaderBasedSensor.h>

Inheritance diagram for AShaderBasedSensor:

Collaboration diagram for AShaderBasedSensor:

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

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

	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. More...

float	GetAperture () const

int	GetBladeCount () const

float	GetBloomIntensity () const

USceneCaptureComponent2D *	GetCaptureComponent2D ()

UTextureRenderTarget2D *	GetCaptureRenderTarget ()

float	GetChromAberrIntensity () const

float	GetChromAberrOffset () const

float	GetDepthBlurAmount () const

float	GetDepthBlurRadius () const

float	GetDepthOfFieldMinFstop () 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	GetFilmShoulder () const

float	GetFilmSlope () const

float	GetFilmToe () const

float	GetFilmWhiteClip () const

float	GetFocalDistance () const

float	GetFOVAngle () const

uint32	GetImageHeight () const

uint32	GetImageWidth () const

float	GetISO () const

float	GetLensFlareIntensity () const

float	GetMotionBlurIntensity () const

float	GetMotionBlurMaxDistortion () const

float	GetMotionBlurMinObjectScreenSize () const

float	GetShutterSpeed () const

float	GetTargetGamma () const

float	GetWhiteTemp () const

float	GetWhiteTint () const

bool	Is16BitFormatEnabled () const

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

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

void	SetAperture (float Aperture)

void	SetBladeCount (int Count)

void	SetBloomIntensity (float Intensity)

void	SetChromAberrIntensity (float Intensity)

void	SetChromAberrOffset (float ChromAberrOffset)

void	SetDepthBlurAmount (float Amount)

void	SetDepthBlurRadius (float Radius)

void	SetDepthOfFieldMinFstop (float MinFstop)

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	SetFilmShoulder (float Shoulder)

void	SetFilmSlope (float Slope)

void	SetFilmToe (float Toe)

void	SetFilmWhiteClip (float WhiteClip)

void	SetFocalDistance (float Distance)

void	SetFOVAngle (float FOVAngle)

void	SetImageSize (uint32 Width, uint32 Height)

void	SetISO (float ISO)

void	SetLensFlareIntensity (float Intensity)

void	SetMotionBlurIntensity (float Intensity)

void	SetMotionBlurMaxDistortion (float MaxDistortion)

void	SetMotionBlurMinObjectScreenSize (float ScreenSize)

void	SetShutterSpeed (float Speed)

void	SetTargetGamma (float InTargetGamma)

void	SetWhiteTemp (float Temp)

void	SetWhiteTint (float Tint)

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

Public Member Functions inherited from ASensor
	ASensor (const FObjectInitializer &ObjectInitializer)

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

const UCarlaEpisode &	GetEpisode () const

URandomEngine *	GetRandomEngine ()

int32	GetSeed () const

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

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. More...

void	SetEpisode (const UCarlaEpisode &InEpisode)

void	SetSeed (int32 InSeed)

void	Tick (const float DeltaTime) final

Protected Member Functions
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

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

virtual void	PrePhysTick (float DeltaSeconds) override

virtual void	SendGBufferTextures (FGBufferRequest &GBuffer)

template<typename T >
void	SendGBufferTexturesInternal (T &Self, FGBufferRequest &GBufferData)

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

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

void	PostActorCreated () override

Private Attributes
TArray< FShaderFloatParameterValue >	FloatShaderParams

TArray< UMaterial * >	MaterialsFound

TArray< FSensorShader >	Shaders

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

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

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

USceneCaptureComponent2D_CARLA *	CaptureComponent2D = nullptr
	Scene capture component. More...

UTextureRenderTarget2D *	CaptureRenderTarget = nullptr
	Render target necessary for scene capture. More...

uint32	ImageHeight = 600u
	Image height in pixels. More...

uint32	ImageWidth = 800u
	Image width in pixels. More...

float	TargetGamma = 2.4f

Protected Attributes inherited from ASensor
bool	bIsActive = false

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

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

Detailed Description

A sensor that produces data by applying post-process materials (shaders) to a scene capture image.

Warning: Shaders must be added before BeginPlay.

Definition at line 48 of file ShaderBasedSensor.h.

Constructor & Destructor Documentation

◆ AShaderBasedSensor()

AShaderBasedSensor::AShaderBasedSensor ( const FObjectInitializer & ObjectInitializer )

inline

Definition at line 54 of file ShaderBasedSensor.h.

Member Function Documentation

◆ AddPostProcessingMaterial()

bool AShaderBasedSensor::AddPostProcessingMaterial ( const FString & Path )

Load the UMaterialInstanceDynamic at the given Path and append it to the list of shaders with Weight.

Returns: Whether it succeeded.

Definition at line 15 of file ShaderBasedSensor.cpp.

References MaterialsFound.

Referenced by ADepthCamera::ADepthCamera(), ADVSCamera::ADVSCamera(), AInstanceSegmentationCamera::AInstanceSegmentationCamera(), ANormalsCamera::ANormalsCamera(), AOpticalFlowCamera::AOpticalFlowCamera(), ASceneCaptureCamera::ASceneCaptureCamera(), and ASemanticSegmentationCamera::ASemanticSegmentationCamera().

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◆ AddShader()

void AShaderBasedSensor::AddShader ( const FSensorShader & Shader )

inline

Add a post-processing shader.

Definition at line 72 of file ShaderBasedSensor.h.

Referenced by SetUpSceneCaptureComponent().

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◆ Set()

void AShaderBasedSensor::Set ( const FActorDescription & ActorDescription )

overridevirtual

Reimplemented from ASceneCaptureSensor.

Definition at line 48 of file ShaderBasedSensor.cpp.

References UActorBlueprintFunctionLibrary::SetCamera().

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◆ SetFloatShaderParameter()

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

Definition at line 54 of file ShaderBasedSensor.cpp.

References FloatShaderParams.

Referenced by UActorBlueprintFunctionLibrary::SetCamera().

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◆ SetUpSceneCaptureComponent()

void AShaderBasedSensor::SetUpSceneCaptureComponent ( USceneCaptureComponent2D & SceneCapture )

overrideprotectedvirtual

Reimplemented from ASceneCaptureSensor.

Definition at line 25 of file ShaderBasedSensor.cpp.

References AddShader(), FloatShaderParams, MaterialsFound, and Shaders.

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Member Data Documentation

◆ FloatShaderParams

TArray<FShaderFloatParameterValue> AShaderBasedSensor::FloatShaderParams

private

Definition at line 92 of file ShaderBasedSensor.h.

Referenced by SetFloatShaderParameter(), and SetUpSceneCaptureComponent().

◆ MaterialsFound

TArray<UMaterial*> AShaderBasedSensor::MaterialsFound

private

Definition at line 86 of file ShaderBasedSensor.h.

Referenced by AddPostProcessingMaterial(), and SetUpSceneCaptureComponent().

◆ Shaders

TArray<FSensorShader> AShaderBasedSensor::Shaders

private

Definition at line 89 of file ShaderBasedSensor.h.

Referenced by SetUpSceneCaptureComponent().

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AShaderBasedSensor()

Member Function Documentation

◆ AddPostProcessingMaterial()

◆ AddShader()

◆ Set()

◆ SetFloatShaderParameter()

◆ SetUpSceneCaptureComponent()

Member Data Documentation

◆ FloatShaderParams

◆ MaterialsFound

◆ Shaders