Sensor that produces "depth" images. More...

#include <DepthCamera_WideAngleLens.h>

Inheritance diagram for ADepthCamera_WideAngleLens:

Public Member Functions
	ADepthCamera_WideAngleLens (const FObjectInitializer &ObjectInitializer)

Public Member Functions inherited from AShaderBasedSensor_WideAngleLens
bool	AddPostProcessingMaterial (const FString &Path)

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

	AShaderBasedSensor_WideAngleLens (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_WideAngleLens
	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	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
static FActorDefinition	GetSensorDefinition ()

Static Public Member Functions inherited from ASceneCaptureSensor_WideAngleLens
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
FLinearColor	GetInvalidPixelColor () const override
	Pixels outside the lens' calibrated range decode to the far plane (all channels 255 -> 1000 m) rather than to zero depth.

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

Protected Member Functions inherited from AShaderBasedSensor_WideAngleLens
void	SetUpSceneCaptureComponents (TArrayView< USceneCaptureComponent2D_CARLA * > SceneCaptures) override

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

void	CaptureSceneExtended ()

uint8	ComputeCubemapRenderMask () const

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

uint8	FindFaceIndex (FVector2D UV) const

virtual void	PrePhysTick (float DeltaSeconds) override

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

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)

Protected Attributes inherited from ASceneCaptureSensor_WideAngleLens
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.