SceneCaptureCamera_WideAngleLens.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_WideAngleLens.h"
#include "Carla.h"
#include "Carla/Game/CarlaEngine.h"
 
#include "Actor/ActorBlueprintFunctionLibrary.h"
 
#include "Carla/Sensor/PixelReader.h"
 
FActorDefinition ASceneCaptureCamera_WideAngleLens::GetSensorDefinition()
{
  constexpr bool bEnableModifyingPostProcessEffects = true;
  return UActorBlueprintFunctionLibrary::MakeWideAngleLensCameraDefinition(
      TEXT("rgb"),
      bEnableModifyingPostProcessEffects);
}
 
ASceneCaptureCamera_WideAngleLens::ASceneCaptureCamera_WideAngleLens(const FObjectInitializer& ObjectInitializer)
    : Super(ObjectInitializer)
{
  Super::SetCubemapSampler(CameraModelUtil::GetSampler(ESamplerFilter::SF_AnisotropicLinear));
 
  EnablePostProcessingEffects(true);
}
 
void ASceneCaptureCamera_WideAngleLens::BeginPlay()
{
  Super::BeginPlay();
}
 
void ASceneCaptureCamera_WideAngleLens::OnFirstClientConnected()
{
}
 
void ASceneCaptureCamera_WideAngleLens::OnLastClientDisconnected()
{
}
 
void ASceneCaptureCamera_WideAngleLens::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
  Super::EndPlay(EndPlayReason);
}
 
void ASceneCaptureCamera_WideAngleLens::PostPhysTick(UWorld* World, ELevelTick TickType, float DeltaSeconds)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(ASceneCaptureCamera_WideAngleLens::PostPhysTick);
  // Skip the whole 6-face capture + compute + readback pipeline when no
  // client is subscribed.
  if (!AreClientsListening())
    return;
  CaptureAndSendToClient(*this);
}