SemanticSegmentationCamera.cpp

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// 语义分割相机
// Copyright (c) 2017 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.h"
#include "Carla/Sensor/SemanticSegmentationCamera.h"
 
#include "Actor/ActorBlueprintFunctionLibrary.h"
 
#include "Carla/Sensor/PixelReader.h"
 
FActorDefinition ASemanticSegmentationCamera::GetSensorDefinition()
{
  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("semantic_segmentation"));
}
 
ASemanticSegmentationCamera::ASemanticSegmentationCamera(
    const FObjectInitializer &ObjectInitializer)
  : Super(ObjectInitializer)
{
  // 语义分割Camera传感器用了两个后处理材质：物理畸变模型、GroundTruth标注
  AddPostProcessingMaterial(
      TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
  AddPostProcessingMaterial(
      TEXT("Material'/Carla/PostProcessingMaterials/GTMaterial.GTMaterial'"));
}
 
void ASemanticSegmentationCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
{
  TRACE_CPUPROFILER_EVENT_SCOPE(ASemanticSegmentationCamera::PostPhysTick);
  FPixelReader::SendPixelsInRenderThread<ASemanticSegmentationCamera, FColor>(*this);
}