Added instance semantic segmentation sensors
This commit is contained in:
Axel
Axel1092
parent
5695337c5b
commit
63d5b314c6
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@ -41,6 +41,7 @@ class ARayCastSemanticLidar;
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class ARayCastLidar;
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class ASceneCaptureCamera;
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class ASemanticSegmentationCamera;
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class AInstanceSegmentationCamera;
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class ARssSensor;
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class FWorldObserver;
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@ -69,6 +70,7 @@ namespace sensor {
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std::pair<ARssSensor *, s11n::NoopSerializer>,
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std::pair<ASceneCaptureCamera *, s11n::ImageSerializer>,
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std::pair<ASemanticSegmentationCamera *, s11n::ImageSerializer>,
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std::pair<AInstanceSegmentationCamera *, s11n::ImageSerializer>,
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std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>
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>;
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@ -94,6 +96,7 @@ namespace sensor {
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#include "Carla/Sensor/RssSensor.h"
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#include "Carla/Sensor/SceneCaptureCamera.h"
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#include "Carla/Sensor/SemanticSegmentationCamera.h"
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#include "Carla/Sensor/InstanceSegmentationCamera.h"
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#include "Carla/Sensor/WorldObserver.h"
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#endif // LIBCARLA_SENSOR_REGISTRY_WITH_SENSOR_INCLUDES
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@ -1058,8 +1058,9 @@ class CameraManager(object):
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['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)', {}],
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['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)', {}],
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['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)', {}],
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['sensor.camera.semantic_segmentation', cc.CityScapesPalette,
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'Camera Semantic Segmentation (CityScapes Palette)', {}],
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['sensor.camera.semantic_segmentation', cc.CityScapesPalette, 'Camera Semantic Segmentation (CityScapes Palette)', {}],
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['sensor.camera.instance_segmentation', cc.CityScapesPalette, 'Camera Instance Segmentation (CityScapes Palette)', {}],
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['sensor.camera.instance_segmentation', cc.Raw, 'Camera Instance Segmentation (Raw)', {}],
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['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)', {'range': '50'}],
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['sensor.camera.dvs', cc.Raw, 'Dynamic Vision Sensor', {}],
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['sensor.camera.rgb', cc.Raw, 'Camera RGB Distorted',
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@ -0,0 +1,309 @@
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#include "Carla.h"
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#include "TaggedComponent.h"
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#include "Rendering/SkeletalMeshRenderData.h"
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//
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// UTaggedComponent
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//
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UTaggedComponent::UTaggedComponent(const FObjectInitializer& ObjectInitializer) :
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UPrimitiveComponent(ObjectInitializer),
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Color(1, 1, 1, 1)
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{
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FString MaterialPath = TEXT("Material'/Carla/PostProcessingMaterials/AnnotationColor.AnnotationColor'");
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static ConstructorHelpers::FObjectFinder<UMaterial> TaggedMaterialObject(*MaterialPath);
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// TODO: Replace with VertexColorViewModeMaterial_ColorOnly?
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TaggedMaterial = TaggedMaterialObject.Object;
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PrimaryComponentTick.bCanEverTick = true;
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}
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void UTaggedComponent::OnRegister()
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{
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Super::OnRegister();
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TaggedMID = UMaterialInstanceDynamic::Create(TaggedMaterial, this, TEXT("TaggedMaterialMID"));
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if (!IsValid(TaggedMID))
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create MID!"));
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}
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SetColor(Color);
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}
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void UTaggedComponent::SetColor(FLinearColor NewColor)
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{
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Color = NewColor;
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if (IsValid(TaggedMID))
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{
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TaggedMID->SetVectorParameterValue("AnnotationColor", Color);
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}
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}
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FLinearColor UTaggedComponent::GetColor()
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{
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return Color;
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}
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FBoxSphereBounds UTaggedComponent::CalcBounds(const FTransform & LocalToWorld) const
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{
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USceneComponent * ParentComponent = GetAttachParent();
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if(ParentComponent)
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{
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return ParentComponent->CalcBounds(LocalToWorld);
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}
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return FBoxSphereBounds();
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}
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FPrimitiveSceneProxy * UTaggedComponent::CreateSceneProxy()
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{
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USceneComponent * ParentComponent = GetAttachParent();
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if (!IsValid(ParentComponent))
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{
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UE_LOG(LogCarla, Error, TEXT("Invalid parent component"));
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return NULL;
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}
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USkeletalMeshComponent * SkeletalMeshComponent = Cast<USkeletalMeshComponent>(ParentComponent);
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UStaticMeshComponent * StaticMeshComponent = Cast<UStaticMeshComponent>(ParentComponent);
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UHierarchicalInstancedStaticMeshComponent * HierarchicalInstancedStaticMeshComponent =
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Cast<UHierarchicalInstancedStaticMeshComponent>(ParentComponent);
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UInstancedStaticMeshComponent* InstancedStaticMeshComponent = Cast<UInstancedStaticMeshComponent>(ParentComponent);
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if (HierarchicalInstancedStaticMeshComponent)
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{
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return CreateSceneProxy(HierarchicalInstancedStaticMeshComponent);
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}
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else if (InstancedStaticMeshComponent)
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{
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return CreateSceneProxy(InstancedStaticMeshComponent);
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}
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else
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if (IsValid(StaticMeshComponent))
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{
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return CreateSceneProxy(StaticMeshComponent);
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}
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else if (IsValid(SkeletalMeshComponent))
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{
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bSkeletalMesh = true;
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return CreateSceneProxy(SkeletalMeshComponent);
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}
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UE_LOG(LogCarla, Error, TEXT("Unknown type of parent component: %s"), *ParentComponent->GetClass()->GetName());
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return NULL;
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}
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FPrimitiveSceneProxy * UTaggedComponent::CreateSceneProxy(UStaticMeshComponent * StaticMeshComponent)
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{
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// Make sure static mesh has render data
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UStaticMesh * StaticMesh = StaticMeshComponent->GetStaticMesh();
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if (StaticMesh == NULL)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for static mesh component (because static mesh is null): %s"), *StaticMeshComponent->GetReadableName());
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return NULL;
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}
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if (StaticMesh->RenderData == NULL)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for static mesh component (because render data is null): %s"), *StaticMeshComponent->GetReadableName());
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return NULL;
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}
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if (StaticMesh->RenderData->LODResources.Num() == 0)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for static mesh component (because num LOD resources is 0): %s"), *StaticMeshComponent->GetReadableName());
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return NULL;
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}
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return new FTaggedStaticMeshSceneProxy(StaticMeshComponent, true, TaggedMID);
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}
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FPrimitiveSceneProxy * UTaggedComponent::CreateSceneProxy(USkeletalMeshComponent * SkeletalMeshComponent)
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{
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FSkeletalMeshRenderData * SkeletalMeshRenderData = SkeletalMeshComponent->GetSkeletalMeshRenderData();
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// Only create a scene proxy for rendering if properly initialized
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if (SkeletalMeshRenderData == NULL)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for skeletal mesh component: %s"), *SkeletalMeshComponent->GetReadableName());
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return NULL;
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}
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if (SkeletalMeshRenderData->LODRenderData.IsValidIndex(SkeletalMeshComponent->PredictedLODLevel) == false)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for skeletal mesh component: %s"), *SkeletalMeshComponent->GetReadableName());
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return NULL;
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}
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if (SkeletalMeshComponent->MeshObject == NULL)
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{
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UE_LOG(LogCarla, Error, TEXT("Failed to create scene proxy for skeletal mesh component: %s"), *SkeletalMeshComponent->GetReadableName());
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return NULL;
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}
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// FIXME: How does this allocation get freed?
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return new FTaggedSkeletalMeshSceneProxy(SkeletalMeshComponent, SkeletalMeshRenderData, TaggedMID);
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}
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FPrimitiveSceneProxy * UTaggedComponent::CreateSceneProxy(UHierarchicalInstancedStaticMeshComponent * MeshComponent)
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{
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// Verify that the mesh is valid before using it.
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const bool bMeshIsValid =
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// make sure we have instances
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(MeshComponent->PerInstanceRenderData.IsValid()) &&
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// make sure we have an actual staticmesh
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MeshComponent->GetStaticMesh() &&
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MeshComponent->GetStaticMesh()->HasValidRenderData(false) &&
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// You really can't use hardware instancing on the consoles with multiple elements because they share the same index buffer.
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// @todo: Level error or something to let LDs know this
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1;//GetStaticMesh()->LODModels(0).Elements.Num() == 1;
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if (bMeshIsValid)
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{
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bool bIsGrass = !MeshComponent->PerInstanceSMData.Num();
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return new FTaggedHierarchicalStaticMeshSceneProxy(MeshComponent, bIsGrass, GetWorld()->FeatureLevel, TaggedMID);
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}
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return nullptr;
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}
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FPrimitiveSceneProxy * UTaggedComponent::CreateSceneProxy(UInstancedStaticMeshComponent * MeshComponent)
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{
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// Verify that the mesh is valid before using it.
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const bool bMeshIsValid =
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// make sure we have instances
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(MeshComponent->PerInstanceRenderData.IsValid()) &&
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// make sure we have an actual staticmesh
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MeshComponent->GetStaticMesh() &&
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MeshComponent->GetStaticMesh()->HasValidRenderData(false) &&
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// You really can't use hardware instancing on the consoles with multiple elements because they share the same index buffer.
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// @todo: Level error or something to let LDs know this
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1;//GetStaticMesh()->LODModels(0).Elements.Num() == 1;
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if (bMeshIsValid)
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{
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return new FTaggedInstancedStaticMeshSceneProxy(MeshComponent, GetWorld()->FeatureLevel, TaggedMID);
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}
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return nullptr;
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}
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void UTaggedComponent::TickComponent(float DeltaTime, ELevelTick TickType, FActorComponentTickFunction * ThisTickFunction)
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{
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Super::TickComponent(DeltaTime, TickType, ThisTickFunction);
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// // TODO: Try removing this
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if (bSkeletalMesh)
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{
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MarkRenderStateDirty();
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}
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}
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//
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// FTaggedStaticMeshSceneProxy
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//
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FTaggedStaticMeshSceneProxy::FTaggedStaticMeshSceneProxy(UStaticMeshComponent * Component, bool bForceLODsShareStaticLighting, UMaterialInstance * MaterialInstance) :
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FStaticMeshSceneProxy(Component, bForceLODsShareStaticLighting)
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{
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TaggedMaterialInstance = MaterialInstance;
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// Replace materials with tagged material
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bVerifyUsedMaterials = false;
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for (FLODInfo& LODInfo : LODs) {
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for (FLODInfo::FSectionInfo& SectionInfo : LODInfo.Sections) {
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SectionInfo.Material = TaggedMaterialInstance;
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}
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}
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}
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FPrimitiveViewRelevance FTaggedStaticMeshSceneProxy::GetViewRelevance(const FSceneView * View) const
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{
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FPrimitiveViewRelevance ViewRelevance = FStaticMeshSceneProxy::GetViewRelevance(View);
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ViewRelevance.bDrawRelevance = !View->Family->EngineShowFlags.NotDrawTaggedComponents;
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return ViewRelevance;
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}
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//
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// FTaggedSkeletalMeshSceneProxy
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//
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FTaggedSkeletalMeshSceneProxy::FTaggedSkeletalMeshSceneProxy(const USkinnedMeshComponent * Component, FSkeletalMeshRenderData * InSkeletalMeshRenderData, UMaterialInstance * MaterialInstance) :
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FSkeletalMeshSceneProxy(Component, InSkeletalMeshRenderData)
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{
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TaggedMaterialInstance = MaterialInstance;
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// Replace materials with tagged material
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bVerifyUsedMaterials = false;
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for (FLODSectionElements& LODSection : LODSections) {
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for (FSectionElementInfo& ElementInfo : LODSection.SectionElements) {
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ElementInfo.Material = TaggedMaterialInstance;
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}
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}
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}
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FPrimitiveViewRelevance FTaggedSkeletalMeshSceneProxy::GetViewRelevance(const FSceneView * View) const
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{
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FPrimitiveViewRelevance ViewRelevance = FSkeletalMeshSceneProxy::GetViewRelevance(View);
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ViewRelevance.bDrawRelevance = !View->Family->EngineShowFlags.NotDrawTaggedComponents;
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return ViewRelevance;
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}
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FTaggedInstancedStaticMeshSceneProxy::FTaggedInstancedStaticMeshSceneProxy(
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UInstancedStaticMeshComponent * Component, ERHIFeatureLevel::Type InFeatureLevel, UMaterialInstance * MaterialInstance)
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: FInstancedStaticMeshSceneProxy(Component, InFeatureLevel)
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{
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TaggedMaterialInstance = MaterialInstance;
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// Replace materials with tagged material
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bVerifyUsedMaterials = false;
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for (FLODInfo& LODInfo : LODs) {
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for (FLODInfo::FSectionInfo& SectionInfo : LODInfo.Sections) {
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SectionInfo.Material = TaggedMaterialInstance;
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}
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}
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}
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FPrimitiveViewRelevance FTaggedInstancedStaticMeshSceneProxy::GetViewRelevance(const FSceneView * View) const
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{
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FPrimitiveViewRelevance ViewRelevance = FInstancedStaticMeshSceneProxy::GetViewRelevance(View);
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ViewRelevance.bDrawRelevance = !View->Family->EngineShowFlags.NotDrawTaggedComponents;
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return ViewRelevance;
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}
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FTaggedHierarchicalStaticMeshSceneProxy::FTaggedHierarchicalStaticMeshSceneProxy(
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UHierarchicalInstancedStaticMeshComponent * Component, bool bInIsGrass, ERHIFeatureLevel::Type InFeatureLevel, UMaterialInstance * MaterialInstance)
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: FHierarchicalStaticMeshSceneProxy(bInIsGrass, Component, InFeatureLevel)
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{
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TaggedMaterialInstance = MaterialInstance;
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// Replace materials with tagged material
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bVerifyUsedMaterials = false;
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for (FLODInfo& LODInfo : LODs) {
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for (FLODInfo::FSectionInfo& SectionInfo : LODInfo.Sections) {
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SectionInfo.Material = TaggedMaterialInstance;
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}
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}
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}
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FPrimitiveViewRelevance FTaggedHierarchicalStaticMeshSceneProxy::GetViewRelevance(const FSceneView * View) const
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{
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FPrimitiveViewRelevance ViewRelevance = FHierarchicalStaticMeshSceneProxy::GetViewRelevance(View);
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ViewRelevance.bDrawRelevance = !View->Family->EngineShowFlags.NotDrawTaggedComponents;
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return ViewRelevance;
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}
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@ -0,0 +1,87 @@
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#pragma once
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#include "CoreMinimal.h"
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#include "Materials/MaterialInstanceDynamic.h"
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#include "Engine/InstancedStaticMesh.h"
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#include "Components/HierarchicalInstancedStaticMeshComponent.h"
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#include "TaggedComponent.generated.h"
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UCLASS( meta=(BlueprintSpawnableComponent) )
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class CARLA_API UTaggedComponent : public UPrimitiveComponent
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{
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GENERATED_BODY()
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public:
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UTaggedComponent(const FObjectInitializer& ObjectInitializer);
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virtual FPrimitiveSceneProxy * CreateSceneProxy() override;
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virtual void TickComponent(float DeltaTime, enum ELevelTick TickType, FActorComponentTickFunction * ThisTickFunction) override;
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virtual void OnRegister() override;
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virtual FBoxSphereBounds CalcBounds(const FTransform & LocalToWorld) const ;
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// FIXME: Should take an int32 and convert to FVector4
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void SetColor(FLinearColor color);
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FLinearColor GetColor();
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private:
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FLinearColor Color;
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UPROPERTY()
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UMaterial * TaggedMaterial;
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UPROPERTY()
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UMaterialInstanceDynamic * TaggedMID;
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bool bSkeletalMesh = false;
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FPrimitiveSceneProxy * CreateSceneProxy(UStaticMeshComponent * StaticMeshComponent);
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FPrimitiveSceneProxy * CreateSceneProxy(USkeletalMeshComponent * SkeletalMeshComponent);
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FPrimitiveSceneProxy * CreateSceneProxy(UHierarchicalInstancedStaticMeshComponent * MeshComponent);
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FPrimitiveSceneProxy * CreateSceneProxy(UInstancedStaticMeshComponent * MeshComponent);
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};
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class FTaggedStaticMeshSceneProxy : public FStaticMeshSceneProxy
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{
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public:
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FTaggedStaticMeshSceneProxy(UStaticMeshComponent * Component, bool bForceLODsShareStaticLighting, UMaterialInstance * MaterialInstance);
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virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView * View) const override;
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private:
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UMaterialInstance * TaggedMaterialInstance;
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};
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class FTaggedSkeletalMeshSceneProxy : public FSkeletalMeshSceneProxy
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{
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public:
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FTaggedSkeletalMeshSceneProxy(const USkinnedMeshComponent * Component, FSkeletalMeshRenderData * InSkeletalMeshRenderData, UMaterialInstance * MaterialInstance);
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virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView * View) const override;
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private:
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UMaterialInstance * TaggedMaterialInstance;
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};
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class FTaggedInstancedStaticMeshSceneProxy : public FInstancedStaticMeshSceneProxy
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{
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public:
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FTaggedInstancedStaticMeshSceneProxy(UInstancedStaticMeshComponent * Component, ERHIFeatureLevel::Type InFeatureLevel, UMaterialInstance * MaterialInstance);
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virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView * View) const override;
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private:
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UMaterialInstance * TaggedMaterialInstance;
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};
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class FTaggedHierarchicalStaticMeshSceneProxy : public FHierarchicalStaticMeshSceneProxy
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{
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public:
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FTaggedHierarchicalStaticMeshSceneProxy(UHierarchicalInstancedStaticMeshComponent * Component, bool bInIsGrass, ERHIFeatureLevel::Type InFeatureLevel, UMaterialInstance * MaterialInstance);
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virtual FPrimitiveViewRelevance GetViewRelevance(const FSceneView * View) const override;
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private:
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UMaterialInstance * TaggedMaterialInstance;
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};
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@ -6,6 +6,7 @@
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#include "Carla.h"
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#include "Tagger.h"
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#include "TaggedComponent.h"
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#include "Components/SkeletalMeshComponent.h"
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#include "Components/StaticMeshComponent.h"
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@ -58,6 +59,30 @@ void ATagger::SetStencilValue(
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(Label != crp::CityObjectLabel::None));
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}
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bool ATagger::IsThing(const crp::CityObjectLabel &Label)
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{
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return (Label == crp::CityObjectLabel::Pedestrians ||
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Label == crp::CityObjectLabel::TrafficSigns ||
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Label == crp::CityObjectLabel::Vehicles ||
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Label == crp::CityObjectLabel::TrafficLight);
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}
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FLinearColor ATagger::GetActorLabelColor(const AActor &Actor, const crp::CityObjectLabel &Label)
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{
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uint32 id = Actor.GetUniqueID();
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// TODO: Warn if id > 0xffff.
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// Encode label and id like semantic segmentation does
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// TODO: Steal bits from R channel and maybe A channel?
|
||||
FLinearColor Color(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
Color.R = CastEnum(Label) / 255.0f;
|
||||
Color.G = ((id & 0x00ff) >> 0) / 255.0f;
|
||||
Color.B = ((id & 0xff00) >> 8) / 255.0f;
|
||||
|
||||
return Color;
|
||||
}
|
||||
|
||||
|
||||
// =============================================================================
|
||||
// -- static ATagger functions -------------------------------------------------
|
||||
// =============================================================================
|
||||
|
|
@ -78,6 +103,44 @@ void ATagger::TagActor(const AActor &Actor, bool bTagForSemanticSegmentation)
|
|||
UE_LOG(LogCarla, Log, TEXT(" + StaticMeshComponent: %s"), *Component->GetName());
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Label: \"%s\""), *GetTagAsString(Label));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
|
||||
// Don't instance segment non-things (i.e., stuff)
|
||||
// if (!IsThing(Label)) {
|
||||
// continue;
|
||||
// }
|
||||
|
||||
// Find a tagged component that is attached to this component
|
||||
UTaggedComponent *TaggedComponent = NULL;
|
||||
TArray<USceneComponent *> AttachedComponents = Component->GetAttachChildren();
|
||||
for (USceneComponent *SceneComponent : AttachedComponents) {
|
||||
UTaggedComponent *TaggedSceneComponent = Cast<UTaggedComponent>(SceneComponent);
|
||||
if (IsValid(TaggedSceneComponent)) {
|
||||
TaggedComponent = TaggedSceneComponent;
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Found Tag"));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// If not found, then create new tagged component and attach it to this component
|
||||
if (!TaggedComponent) {
|
||||
TaggedComponent = NewObject<UTaggedComponent>(Component);
|
||||
TaggedComponent->SetupAttachment(Component);
|
||||
TaggedComponent->RegisterComponent();
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Added Tag"));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
}
|
||||
|
||||
// Set tagged component color
|
||||
FLinearColor Color = GetActorLabelColor(Actor, Label);
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Color: %s"), *Color.ToString());
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
|
||||
TaggedComponent->SetColor(Color);
|
||||
TaggedComponent->MarkRenderStateDirty();
|
||||
}
|
||||
|
||||
// Iterate skeletal meshes.
|
||||
|
|
@ -90,6 +153,45 @@ void ATagger::TagActor(const AActor &Actor, bool bTagForSemanticSegmentation)
|
|||
UE_LOG(LogCarla, Log, TEXT(" + SkeletalMeshComponent: %s"), *Component->GetName());
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Label: \"%s\""), *GetTagAsString(Label));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
|
||||
// Don't instance segment non-things (i.e., stuff)
|
||||
// if (!IsThing(Label)) {
|
||||
// continue;
|
||||
// }
|
||||
|
||||
// Find a tagged component that is attached to this component
|
||||
UTaggedComponent *TaggedComponent = NULL;
|
||||
TArray<USceneComponent *> AttachedComponents = Component->GetAttachChildren();
|
||||
for (USceneComponent *SceneComponent : AttachedComponents) {
|
||||
UTaggedComponent *TaggedSceneComponent = Cast<UTaggedComponent>(SceneComponent);
|
||||
if (IsValid(TaggedSceneComponent)) {
|
||||
TaggedComponent = TaggedSceneComponent;
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Found Tag"));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// If not found, then create new tagged component and attach it to this component
|
||||
if (!TaggedComponent) {
|
||||
TaggedComponent = NewObject<UTaggedComponent>(Component);
|
||||
TaggedComponent->SetupAttachment(Component);
|
||||
TaggedComponent->RegisterComponent();
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Added Tag"));
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
}
|
||||
|
||||
// Set tagged component color
|
||||
FLinearColor Color = GetActorLabelColor(Actor, Label);
|
||||
#ifdef CARLA_TAGGER_EXTRA_LOG
|
||||
UE_LOG(LogCarla, Log, TEXT(" - Color: %s"), *Color.ToString());
|
||||
#endif // CARLA_TAGGER_EXTRA_LOG
|
||||
|
||||
TaggedComponent->SetColor(Color);
|
||||
TaggedComponent->MarkRenderStateDirty();
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -84,6 +84,10 @@ public:
|
|||
static void SetStencilValue(UPrimitiveComponent &Component,
|
||||
const crp::CityObjectLabel &Label, const bool bSetRenderCustomDepth);
|
||||
|
||||
static FLinearColor GetActorLabelColor(const AActor &Actor, const crp::CityObjectLabel &Label);
|
||||
|
||||
static bool IsThing(const crp::CityObjectLabel &Label);
|
||||
|
||||
ATagger();
|
||||
|
||||
protected:
|
||||
|
|
|
|||
|
|
@ -0,0 +1,98 @@
|
|||
// 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/InstanceSegmentationCamera.h"
|
||||
#include "Carla/Game/TaggedComponent.h"
|
||||
|
||||
#include "Carla/Sensor/PixelReader.h"
|
||||
|
||||
#include "Components/SceneCaptureComponent2D.h"
|
||||
|
||||
FActorDefinition AInstanceSegmentationCamera::GetSensorDefinition()
|
||||
{
|
||||
return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("instance_segmentation"));
|
||||
}
|
||||
|
||||
AInstanceSegmentationCamera::AInstanceSegmentationCamera(
|
||||
const FObjectInitializer &ObjectInitializer)
|
||||
: Super(ObjectInitializer)
|
||||
{
|
||||
AddPostProcessingMaterial(TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
|
||||
// TODO: Setup OnActorSpawnHandler so we can refresh components
|
||||
// World->AddOnActorSpawnedHandler(FOnActorSpawned::FDelegate::CreateRaw(this, &AInstanceSegmentationCamera::OnActorSpawned));
|
||||
}
|
||||
|
||||
void AInstanceSegmentationCamera::SetUpSceneCaptureComponent(USceneCaptureComponent2D &SceneCapture)
|
||||
{
|
||||
Super::SetUpSceneCaptureComponent(SceneCapture);
|
||||
|
||||
ApplyViewMode(VMI_Unlit, true, SceneCapture.ShowFlags);
|
||||
|
||||
SceneCapture.ShowFlags.SetNotDrawTaggedComponents(false); // TaggedComponent detects this and sets view relevance for proxy material
|
||||
//SceneCapture.ShowFlags.SetDecals(false);
|
||||
//SceneCapture.ShowFlags.SetPostProcessing(false);
|
||||
//SceneCapture.ShowFlags.SetAmbientCubemap(false);
|
||||
//SceneCapture.ShowFlags.SetVignette(false);
|
||||
//SceneCapture.ShowFlags.SetRectLights(false);
|
||||
//SceneCapture.ShowFlags.SetToneCurve(false);
|
||||
//SceneCapture.ShowFlags.SetScreenPercentage(false);
|
||||
//SceneCapture.ShowFlags.SetReflectionEnvironment(false);
|
||||
//SceneCapture.ShowFlags.SetSpecular(false);
|
||||
//SceneCapture.ShowFlags.SetContactShadows(false);
|
||||
//SceneCapture.ShowFlags.SetRayTracedDistanceFieldShadows(false);
|
||||
//SceneCapture.ShowFlags.SetCapsuleShadows(false);
|
||||
//SceneCapture.ShowFlags.SetVolumetricLightmap(false);
|
||||
//SceneCapture.ShowFlags.SetIndirectLightingCache(false);
|
||||
//SceneCapture.ShowFlags.SetTexturedLightProfiles(false);
|
||||
//SceneCapture.ShowFlags.SetDeferredLighting(false);
|
||||
//SceneCapture.ShowFlags.SetTranslucency(false);
|
||||
//SceneCapture.ShowFlags.SetBillboardSprites(false);
|
||||
//SceneCapture.ShowFlags.SetBSPTriangles(false); // hmm
|
||||
//SceneCapture.ShowFlags.SetLandscape(false); // hmm
|
||||
//SceneCapture.ShowFlags.SetBSP(false); // hmm
|
||||
//SceneCapture.ShowFlags.SetPostProcessMaterial(false); // hmm
|
||||
SceneCapture.ShowFlags.SetAtmosphere(false);
|
||||
//SceneCapture.ShowFlags.SetPrecomputedVisibility(false);
|
||||
//SceneCapture.ShowFlags.SetPaper2DSprites(false);
|
||||
//SceneCapture.ShowFlags.SetDistanceFieldAO(false);
|
||||
//SceneCapture.ShowFlags.SetWidgetComponents(false);
|
||||
//SceneCapture.ShowFlags.SetMediaPlanes(false);
|
||||
|
||||
//SceneCapture.PostProcessSettings.AutoExposureBias = 0;
|
||||
|
||||
SceneCapture.PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_UseShowOnlyList;
|
||||
|
||||
TArray<UObject *> TaggedComponents;
|
||||
GetObjectsOfClass(UTaggedComponent::StaticClass(), TaggedComponents, false, EObjectFlags::RF_ClassDefaultObject, EInternalObjectFlags::AllFlags);
|
||||
|
||||
UE_LOG(LogCarla, Warning, TEXT("AInstanceSegmentationCamera::SetUpSceneCaptureComponent with %d tagged components!"), TaggedComponents.Num());
|
||||
|
||||
TArray<UPrimitiveComponent *> ShowOnlyComponents;
|
||||
for (UObject *Object : TaggedComponents) {
|
||||
UPrimitiveComponent *Component = Cast<UPrimitiveComponent>(Object);
|
||||
SceneCapture.ShowOnlyComponents.Emplace(Component);
|
||||
}
|
||||
}
|
||||
|
||||
void AInstanceSegmentationCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds)
|
||||
{
|
||||
TRACE_CPUPROFILER_EVENT_SCOPE(AInstanceSegmentationCamera::PostPhysTick);
|
||||
|
||||
USceneCaptureComponent2D* SceneCapture = GetCaptureComponent2D();
|
||||
TArray<UObject *> TaggedComponents;
|
||||
GetObjectsOfClass(UTaggedComponent::StaticClass(), TaggedComponents, false, EObjectFlags::RF_ClassDefaultObject, EInternalObjectFlags::AllFlags);
|
||||
|
||||
// UE_LOG(LogCarla, Warning, TEXT("AInstanceSegmentationCamera::SetUpSceneCaptureComponent with %d tagged components!"), TaggedComponents.Num());
|
||||
SceneCapture->ClearShowOnlyComponents();
|
||||
for (UObject *Object : TaggedComponents) {
|
||||
UPrimitiveComponent *Component = Cast<UPrimitiveComponent>(Object);
|
||||
SceneCapture->ShowOnlyComponents.Emplace(Component);
|
||||
}
|
||||
|
||||
FPixelReader::SendPixelsInRenderThread(*this);
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
// 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 "InstanceSegmentationCamera.generated.h"
|
||||
|
||||
/// Sensor that produces "Instance segmentation" images.
|
||||
UCLASS()
|
||||
class CARLA_API AInstanceSegmentationCamera : public AShaderBasedSensor
|
||||
{
|
||||
GENERATED_BODY()
|
||||
|
||||
public:
|
||||
|
||||
static FActorDefinition GetSensorDefinition();
|
||||
|
||||
AInstanceSegmentationCamera(const FObjectInitializer &ObjectInitializer);
|
||||
|
||||
protected:
|
||||
|
||||
void SetUpSceneCaptureComponent(USceneCaptureComponent2D &SceneCapture) override;
|
||||
void PostPhysTick(UWorld *World, ELevelTick TickType, float DeltaSeconds) override;
|
||||
};
|
||||
Loading…
Reference in New Issue