Added new sensor with camera normals

CHANGELOG.md

@@ -5,6 +5,7 @@
     - `get_ackermann_controller_settings`: to get the last ackermann controller settings applied
     - `apply_ackermann_controller_settings`: to apply new ackermann controller settings
   * Fixed bug causing the Traffic Manager to not be deterministic when using hybrid mode
+  * Added `NormalsSensor`, a new sensor with normals information
   * Added support for N wheeled vehicles
 
 ## CARLA 0.9.13

LibCarla/source/carla/sensor/SensorRegistry.h

@@ -30,6 +30,7 @@
 // 2. Add a forward-declaration of the sensor here.
 class ACollisionSensor;
 class ADepthCamera;
+class ANormalsCamera;
 class ADVSCamera;
 class AGnssSensor;
 class AInertialMeasurementUnit;
@@ -58,6 +59,7 @@ namespace sensor {
   using SensorRegistry = CompositeSerializer<
     std::pair<ACollisionSensor *, s11n::CollisionEventSerializer>,
     std::pair<ADepthCamera *, s11n::ImageSerializer>,
+    std::pair<ANormalsCamera *, s11n::ImageSerializer>,
     std::pair<ADVSCamera *, s11n::DVSEventArraySerializer>,
     std::pair<AGnssSensor *, s11n::GnssSerializer>,
     std::pair<AInertialMeasurementUnit *, s11n::IMUSerializer>,
@@ -84,6 +86,7 @@ namespace sensor {
 // 4. Include the sensor here.
 #include "Carla/Sensor/CollisionSensor.h"
 #include "Carla/Sensor/DepthCamera.h"
+#include "Carla/Sensor/NormalsCamera.h"
 #include "Carla/Sensor/DVSCamera.h"
 #include "Carla/Sensor/GnssSensor.h"
 #include "Carla/Sensor/InertialMeasurementUnit.h"

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -14,6 +14,7 @@
 #include <carla/sensor/data/IMUMeasurement.h>
 #include <carla/sensor/data/ObstacleDetectionEvent.h>
 #include <carla/sensor/data/Image.h>
+#include <carla/sensor/data/Normals.h>
 #include <carla/sensor/data/LaneInvasionEvent.h>
 #include <carla/sensor/data/LidarMeasurement.h>
 #include <carla/sensor/data/SemanticLidarMeasurement.h>

PythonAPI/examples/manual_control.py

@@ -1121,6 +1121,7 @@ class CameraManager(object):
                 'chromatic_aberration_intensity': '0.5',
                 'chromatic_aberration_offset': '0'}],
             ['sensor.camera.optical_flow', cc.Raw, 'Optical Flow', {}],
+            ['sensor.camera.normals', cc.Raw, 'Camera Normals', {}],
         ]
         world = self._parent.get_world()
         bp_library = world.get_blueprint_library()

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/NormalsCamera.cpp

@@ -0,0 +1,32 @@
+// 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/NormalsCamera.h"
+
+#include "Carla/Sensor/PixelReader.h"
+
+FActorDefinition ANormalsCamera::GetSensorDefinition()
+{
+  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("normals"));
+}
+
+ANormalsCamera::ANormalsCamera(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  Enable16BitFormat(true);
+  AddPostProcessingMaterial(
+      TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
+      
+  AddPostProcessingMaterial(
+      TEXT("Material'/Carla/PostProcessingMaterials/NormalsEffectMaterial.NormalsEffectMaterial'"));
+}
+
+void ANormalsCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
+{
+  TRACE_CPUPROFILER_EVENT_SCOPE(ANormalsCamera::PostPhysTick);
+  FPixelReader::SendPixelsInRenderThread(*this);
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/NormalsCamera.h

@@ -0,0 +1,30 @@
+// 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>.
+
+#pragma once
+
+#include "Carla/Sensor/ShaderBasedSensor.h"
+
+#include "Carla/Actor/ActorDefinition.h"
+
+#include "NormalsCamera.generated.h"
+
+/// Sensor that produces "normals" images.
+UCLASS()
+class CARLA_API ANormalsCamera : public AShaderBasedSensor
+{
+  GENERATED_BODY()
+
+public:
+
+  static FActorDefinition GetSensorDefinition();
+
+  ANormalsCamera(const FObjectInitializer &ObjectInitializer);
+
+protected:
+
+  void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
+};