InstanceSegmentationCamera_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/InstanceSegmentationCamera_WideAngleLens.h"
#include "Carla.h"
#include "Carla/Util/CameraModelUtil.h"
#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 
#include "Carla/Sensor/PixelReader.h"
 
FActorDefinition AInstanceSegmentationCamera_WideAngleLens::GetSensorDefinition()
{
  return UActorBlueprintFunctionLibrary::MakeWideAngleLensCameraDefinition(
      TEXT("instance_segmentation"));
}
 
AInstanceSegmentationCamera_WideAngleLens::AInstanceSegmentationCamera_WideAngleLens(
    const FObjectInitializer &ObjectInitializer)
  : Super(ObjectInitializer)
{
  Super::SetCubemapSampler(CameraModelUtil::GetSampler(ESamplerFilter::SF_Point));
 
  AddPostProcessingMaterial(
      TEXT("Material'/Game/Carla/PostProcessMaterials/M_InstanceSegmentationSensorMaterial'"));
}
 
void AInstanceSegmentationCamera_WideAngleLens::SetUpSceneCaptureComponents(
    TArrayView<USceneCaptureComponent2D_CARLA*> SceneCaptures)
{
  Super::SetUpSceneCaptureComponents(SceneCaptures);
  // The post-process material samples the segmentation ID buffer; the
  // renderer only produces it for captures that opt in (same as the pinhole
  // AInstanceSegmentationCamera). Without this the six faces read an
  // unwritten buffer and the projected image is noise.
  for (auto SceneCapture : SceneCaptures)
    if (SceneCapture != nullptr)
      SceneCapture->bRequiresSegmentationPass = true;
}
 
void AInstanceSegmentationCamera_WideAngleLens::PostPhysTick(
    UWorld *World, ELevelTick TickType, float DeltaSeconds)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(AInstanceSegmentationCamera_WideAngleLens::PostPhysTick);
  // Skip the whole 6-face capture + compute + readback pipeline when no
  // client is subscribed.
  if (!AreClientsListening())
    return;
  CaptureAndSendToClient(*this);
}