Minor fixes for the pull request.

Updated copyrights, added custom normal camera definition function in ActorBlueprintFunctionLibrary and fixed minor include error.

LibCarla/source/carla/sensor/SensorRegistry.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -14,7 +14,6 @@
 #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>

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp

@@ -646,6 +646,92 @@ void UActorBlueprintFunctionLibrary::MakeCameraDefinition(
   Success = CheckActorDefinition(Definition);
 }
 
+FActorDefinition UActorBlueprintFunctionLibrary::MakeNormalsCameraDefinition()
+{
+  FActorDefinition Definition;
+  bool Success;
+  MakeNormalsCameraDefinition(Success, Definition);
+  check(Success);
+  return Definition;
+}
+
+void UActorBlueprintFunctionLibrary::MakeNormalsCameraDefinition(bool &Success, FActorDefinition &Definition)
+{
+  FillIdAndTags(Definition, TEXT("sensor"), TEXT("camera"), TEXT("normals"));
+  AddRecommendedValuesForSensorRoleNames(Definition);
+  AddVariationsForSensor(Definition);
+
+  // FOV
+  FActorVariation FOV;
+  FOV.Id = TEXT("fov");
+  FOV.Type = EActorAttributeType::Float;
+  FOV.RecommendedValues = { TEXT("90.0") };
+  FOV.bRestrictToRecommended = false;
+
+  // Resolution
+  FActorVariation ResX;
+  ResX.Id = TEXT("image_size_x");
+  ResX.Type = EActorAttributeType::Int;
+  ResX.RecommendedValues = { TEXT("800") };
+  ResX.bRestrictToRecommended = false;
+
+  FActorVariation ResY;
+  ResY.Id = TEXT("image_size_y");
+  ResY.Type = EActorAttributeType::Int;
+  ResY.RecommendedValues = { TEXT("600") };
+  ResY.bRestrictToRecommended = false;
+
+  // Lens parameters
+  FActorVariation LensCircleFalloff;
+  LensCircleFalloff.Id = TEXT("lens_circle_falloff");
+  LensCircleFalloff.Type = EActorAttributeType::Float;
+  LensCircleFalloff.RecommendedValues = { TEXT("5.0") };
+  LensCircleFalloff.bRestrictToRecommended = false;
+
+  FActorVariation LensCircleMultiplier;
+  LensCircleMultiplier.Id = TEXT("lens_circle_multiplier");
+  LensCircleMultiplier.Type = EActorAttributeType::Float;
+  LensCircleMultiplier.RecommendedValues = { TEXT("0.0") };
+  LensCircleMultiplier.bRestrictToRecommended = false;
+
+  FActorVariation LensK;
+  LensK.Id = TEXT("lens_k");
+  LensK.Type = EActorAttributeType::Float;
+  LensK.RecommendedValues = { TEXT("-1.0") };
+  LensK.bRestrictToRecommended = false;
+
+  FActorVariation LensKcube;
+  LensKcube.Id = TEXT("lens_kcube");
+  LensKcube.Type = EActorAttributeType::Float;
+  LensKcube.RecommendedValues = { TEXT("0.0") };
+  LensKcube.bRestrictToRecommended = false;
+
+  FActorVariation LensXSize;
+  LensXSize.Id = TEXT("lens_x_size");
+  LensXSize.Type = EActorAttributeType::Float;
+  LensXSize.RecommendedValues = { TEXT("0.08") };
+  LensXSize.bRestrictToRecommended = false;
+
+  FActorVariation LensYSize;
+  LensYSize.Id = TEXT("lens_y_size");
+  LensYSize.Type = EActorAttributeType::Float;
+  LensYSize.RecommendedValues = { TEXT("0.08") };
+  LensYSize.bRestrictToRecommended = false;
+
+  Definition.Variations.Append({
+      ResX,
+      ResY,
+      FOV,
+      LensCircleFalloff,
+      LensCircleMultiplier,
+      LensK,
+      LensKcube,
+      LensXSize,
+      LensYSize});
+
+  Success = CheckActorDefinition(Definition);
+}
+
 FActorDefinition UActorBlueprintFunctionLibrary::MakeIMUDefinition()
 {
   FActorDefinition Definition;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.h

@@ -71,6 +71,13 @@ public:
       bool &Success,
       FActorDefinition &Definition);
 
+  static FActorDefinition MakeNormalsCameraDefinition();
+
+  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
+  static void MakeNormalsCameraDefinition(
+      bool &Success,
+      FActorDefinition &Definition);
+
   static FActorDefinition MakeLidarDefinition(
       const FString &Id);
 

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

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.
@@ -11,7 +11,7 @@
 
 FActorDefinition ANormalsCamera::GetSensorDefinition()
 {
-  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("normals"));
+  return UActorBlueprintFunctionLibrary::MakeNormalsCameraDefinition();
 }
 
 ANormalsCamera::ANormalsCamera(const FObjectInitializer &ObjectInitializer)
@@ -20,7 +20,6 @@ ANormalsCamera::ANormalsCamera(const FObjectInitializer &ObjectInitializer)
   Enable16BitFormat(true);
   AddPostProcessingMaterial(
       TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
-      
   AddPostProcessingMaterial(
       TEXT("Material'/Carla/PostProcessingMaterials/NormalsEffectMaterial.NormalsEffectMaterial'"));
 }

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

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
 // de Barcelona (UAB).
 //
 // This work is licensed under the terms of the MIT license.