Merge GBuffer features. (#5960)

* Add Misc/GBuffer

* Add EnqueueRenderSceneImmediateWithGBuffer.

* Modified ASceneCaptureSensor to allow gbuffer recording.

* Minor GBuffer progress.

* More GBuffer changes.

* Removed unnecessary files.

* Add FRHITexture* functions to FPixelReader + temporarily disabled non-gbuffer rendering in ASceneCaptureSensor.

* Add missing FPixelReader functions.

* Minor changes (Switching to Windows).

* Remove FRHITexture functions from FPixelReader, added the file ImageUtil.

* Remove FRHITexture functions from FPixelReader, added the file ImageUtil. (2)

* Added API to listen GBuffer data.

* Added gbuffer serializer classes

* Temporarily remove ViewRect hack.

* Add USceneCaptureComponent* derived classes.

* Disable USceneCaptureComponent*_CARLA and add initial FRHIGPUTextureReadBack-based code.

* Fix and re-enable custom SceneCaptureComponents.

* Fully switch to FRHIGPUTextureReadback.

* Remove unnecessary call to FlushRenderingCommands.

* Minor API changes.

* Add support for PF_DepthStencil in ImageUtil.

* More API progress...

* More API progress... (2)

* Removed testing code.

* Minor changes for testing.

* GBuffer API fixes.

* Improve GBuffer capture code.

* Fixed SceneDepth transfer issues and added SceneStencil, CustomDepth and CustomStencil to the GBuffer capture.

* Fix compilation error due to the usage of C++17 features.

* Removed major memory leak and added manual_control_gbuffer.py.

* Fixed a silly mistake.

* Minor changes to manual_control_gbuffer and SceneCaptureSensor.

* Fix compilation error on some versions of Ubuntu.

* Disable TAA when reading GBuffers to avoid jitter.

* Improve memory usage.

* Progress towards automatically detecting when a GBuffer stream is unused.

* Fix includes in SceneCaptureSensor + minor change in manual_control_gbuffer.py

* Progress on automatically detecting which GBuffers aren't needed.

* Remove unneeded __declspec.

* Revert ASensor changes + fix tutorial_gbuffer.py

* Update CHANGELOG.md

* Apply requested changes for the PR, add gitignore for the file OptionalModules.ini and add a GBufferTextureID enum to the Python API.

* Remove OptionalModules.ini.

* Fix indentation.

* Fix indentation (2).

* Fix indentation (3).

* Add documentation and more indentation fixes.

* Remove commented includes.

* Add missing line break.

* Fix memory leak + remove unneeded files.

* Add .uproject again, fix EngineAssociation.

* Remove unneeded ENQUEUE_RENDER_COMMAND.

* Fix manual_control_gbuffer.py.

* Add `stop_gbuffer` to the Python API.

* Minor fixes.

* Fix performance bug.

Previously, when a client requested a gbuffer that is unused it would stay open, even after stopping it explicitly. This commit fixes this issue.

* Fix indentation.

* Add missing braces, more indentation fixes and simplify some of the code.

* Update sensor.yml docs.

* Update docs.

* Remove unnecessary UE_Log + changed one verbosity level.

Co-authored-by: Axel <axellopez92@outlook.com>
Co-authored-by: Axel1092 <35765780+Axel1092@users.noreply.github.com>

CHANGELOG.md

@@ -48,6 +48,8 @@
   * Added post process effects for rainy and dusty weathers.
   * Switched data type of the dust storm weather parameter from bool to float.
   * Check for the version of the installed Clang compiler during build.
+  * Added API function to get direct access to the GBuffer textures of a sensor:
+    - `listen_to_gbuffer`: to set a callback for a specific GBuffer texture
 
 ## CARLA 0.9.13
 

Docs/bp_library.md

@@ -83,6 +83,32 @@ Check out the [introduction to blueprints](core_actors.md).
         - `toe` (_Float_) <sub>_- Modifiable_</sub>
         - `use_log` (_Bool_) <sub>_- Modifiable_</sub>
         - `white_clip` (_Float_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.camera.instance_segmentation</font>**  
+    - **Attributes:**
+        - `fov` (_Float_) <sub>_- Modifiable_</sub>
+        - `image_size_x` (_Int_) <sub>_- Modifiable_</sub>
+        - `image_size_y` (_Int_) <sub>_- Modifiable_</sub>
+        - `lens_circle_falloff` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_circle_multiplier` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_k` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_kcube` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_x_size` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_y_size` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">sensor.camera.normals</font>**  
+    - **Attributes:**
+        - `fov` (_Float_) <sub>_- Modifiable_</sub>
+        - `image_size_x` (_Int_) <sub>_- Modifiable_</sub>
+        - `image_size_y` (_Int_) <sub>_- Modifiable_</sub>
+        - `lens_circle_falloff` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_circle_multiplier` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_k` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_kcube` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_x_size` (_Float_) <sub>_- Modifiable_</sub>
+        - `lens_y_size` (_Float_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `sensor_tick` (_Float_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">sensor.camera.optical_flow</font>**  
     - **Attributes:**
         - `fov` (_Float_) <sub>_- Modifiable_</sub>
@@ -306,6 +332,10 @@ Check out the [introduction to blueprints](core_actors.md).
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `size` (_String_)
+- **<font color="#498efc">static.prop.busstoplb</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
 - **<font color="#498efc">static.prop.calibrator</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -366,6 +396,10 @@ Check out the [introduction to blueprints](core_actors.md).
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `size` (_String_)
+- **<font color="#498efc">static.prop.foodcart</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
 - **<font color="#498efc">static.prop.fountain</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -410,6 +444,14 @@ Check out the [introduction to blueprints](core_actors.md).
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `size` (_String_)
+- **<font color="#498efc">static.prop.haybale</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
+- **<font color="#498efc">static.prop.haybalelb</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
 - **<font color="#498efc">static.prop.ironplank</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -428,7 +470,10 @@ Check out the [introduction to blueprints](core_actors.md).
         - `size` (_String_)
 - **<font color="#498efc">static.prop.mesh</font>**  
     - **Attributes:**
+        - `mass` (_Float_) <sub>_- Modifiable_</sub>
+        - `mesh_path` (_String_) <sub>_- Modifiable_</sub>
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `scale` (_Float_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">static.prop.mobile</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -437,14 +482,6 @@ Check out the [introduction to blueprints](core_actors.md).
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `size` (_String_)
-- **<font color="#498efc">static.prop.omri-0</font>**  
-    - **Attributes:**
-        - `role_name` (_String_) <sub>_- Modifiable_</sub>
-        - `size` (_String_)
-- **<font color="#498efc">static.prop.omri-1</font>**  
-    - **Attributes:**
-        - `role_name` (_String_) <sub>_- Modifiable_</sub>
-        - `size` (_String_)
 - **<font color="#498efc">static.prop.pergola</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -597,6 +634,14 @@ Check out the [introduction to blueprints](core_actors.md).
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `size` (_String_)
+- **<font color="#498efc">static.prop.warningaccident</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
+- **<font color="#498efc">static.prop.warningconstruction</font>**  
+    - **Attributes:**
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `size` (_String_)
 - **<font color="#498efc">static.prop.wateringcan</font>**  
     - **Attributes:**
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
@@ -612,480 +657,518 @@ Check out the [introduction to blueprints](core_actors.md).
 ### vehicle
 - **<font color="#498efc">vehicle.audi.a2</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
-        - `base_type` (_String_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.audi.etron</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.audi.tt</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.bh.crossbike</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.bmw.grandtourer</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.carlamotors.carlacola</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.carlamotors.firetruck</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.chevrolet.impala</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.citroen.c3</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.diamondback.century</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.dodge.charger_2020</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.dodge.charger_police</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.dodge.charger_police_2020</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.ford.ambulance</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.ford.crown</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.ford.mustang</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.gazelle.omafiets</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.harley-davidson.low_rider</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.jeep.wrangler_rubicon</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.kawasaki.ninja</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.lincoln.mkz_2017</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.lincoln.mkz_2020</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.mercedes.coupe</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.mercedes.coupe_2020</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.mercedes.sprinter</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.micro.microlino</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.mini.cooper_s</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.mini.cooper_s_2021</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.nissan.micra</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.nissan.patrol</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.nissan.patrol_2021</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.seat.leon</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.tesla.cybertruck</font>**  
     - **Attributes:**
-        - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
         - `base_type` (_String_)
-        - `special_type` (_String_)
+        - `generation` (_Int_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.tesla.model3</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.toyota.prius</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.vespa.zx125</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.volkswagen.t2</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.volkswagen.t2_2021</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 - **<font color="#498efc">vehicle.yamaha.yzf</font>**  
     - **Attributes:**
+        - `base_type` (_String_)
         - `color` (_RGBColor_) <sub>_- Modifiable_</sub>
         - `driver_id` (_Int_) <sub>_- Modifiable_</sub>
         - `generation` (_Int_)
-        - `number_of_wheels` (_Int_)
-        - `object_type` (_String_)
-        - `base_type` (_String_)
-        - `special_type` (_String_)
         - `has_dynamic_doors` (_Bool_)
         - `has_lights` (_Bool_)
+        - `number_of_wheels` (_Int_)
+        - `object_type` (_String_)
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `special_type` (_String_)
         - `sticky_control` (_Bool_) <sub>_- Modifiable_</sub>
+        - `terramechanics` (_Bool_) <sub>_- Modifiable_</sub>
 
 ### walker
 - **<font color="#498efc">walker.pedestrian.0001</font>**  
@@ -1472,3 +1555,11 @@ Check out the [introduction to blueprints](core_actors.md).
         - `is_invincible` (_Bool_) <sub>_- Modifiable_</sub>
         - `role_name` (_String_) <sub>_- Modifiable_</sub>
         - `speed` (_Float_) <sub>_- Modifiable_</sub>
+- **<font color="#498efc">walker.pedestrian.0049</font>**  
+    - **Attributes:**
+        - `age` (_String_)
+        - `gender` (_String_)
+        - `generation` (_Int_)
+        - `is_invincible` (_Bool_) <sub>_- Modifiable_</sub>
+        - `role_name` (_String_) <sub>_- Modifiable_</sub>
+        - `speed` (_Float_) <sub>_- Modifiable_</sub>

Docs/python_api.md

@@ -772,6 +772,57 @@ Initializes a color, black by default.
 
 ---
 
+## carla.GBufferTextureID<a name="carla.GBufferTextureID"></a>
+Defines the identifiers of each GBuffer texture (See the method `[carla.Sensor.listen_to_gbuffer](#carla.Sensor.listen_to_gbuffer)`).  
+
+### Instance Variables
+- <a name="carla.GBufferTextureID.SceneColor"></a>**<font color="#f8805a">SceneColor</font>**  
+The texture "SceneColor" contains the final color of the image.  
+- <a name="carla.GBufferTextureID.SceneDepth"></a>**<font color="#f8805a">SceneDepth</font>**  
+The texture "SceneDepth" contains the depth buffer - linear in world units.  
+- <a name="carla.GBufferTextureID.SceneStencil"></a>**<font color="#f8805a">SceneStencil</font>**  
+The texture "SceneStencil" contains the stencil buffer.  
+- <a name="carla.GBufferTextureID.GBufferA"></a>**<font color="#f8805a">GBufferA</font>**  
+The texture "GBufferA" contains the world-space normal vectors in the RGB channels. The alpha channel contains "per-object data".  
+- <a name="carla.GBufferTextureID.GBufferB"></a>**<font color="#f8805a">GBufferB</font>**  
+The texture "GBufferB" contains the metallic, specular and roughness in the RGB channels, respectively. The alpha channel contains a mask where the lower 4 bits indicate the shading model and the upper 4 bits contain the selective output mask.  
+- <a name="carla.GBufferTextureID.GBufferC"></a>**<font color="#f8805a">GBufferC</font>**  
+The texture "GBufferC" contains the diffuse color in the RGB channels, with the indirect irradiance in the alpha channel.<br> If static lightning is not allowed, the alpha channel will contain the ambient occlusion instead.  
+- <a name="carla.GBufferTextureID.GBufferD"></a>**<font color="#f8805a">GBufferD</font>**  
+The contents of the "GBufferD" varies depending on the rendered object's material shading model (GBufferB):<br>
+  - MSM_Subsurface (2), MSM_PreintegratedSkin (3), MSM_TwoSidedFoliage (6):<br>
+    RGB: Subsurface color.<br>
+    A: Opacity.<br>
+  - MSM_ClearCoat (4):<br>
+    R: Clear coat.<br>
+    G: Roughness.<br>
+  - MSM_SubsurfaceProfile (5):<br>
+    RGB: Subsurface profile.<br>
+  - MSM_Hair (7):<br>
+    RG: World normal.<br>
+    B: Backlit value.<br>
+  - MSM_Cloth (8):<br>
+    RGB: Subsurface color.<br>
+    A: Cloth value.<br>
+  - MSM_Eye (9):<br>
+    RG: Eye tangent.<br>
+    B: Iris mask.<br>
+    A: Iris distance.  
+- <a name="carla.GBufferTextureID.GBufferE"></a>**<font color="#f8805a">GBufferE</font>**  
+The texture "GBufferE" contains the precomputed shadow factors in the RGBA channels. This texture is unavailable if the selective output mask (GBufferB) does not have its 4th bit set.  
+- <a name="carla.GBufferTextureID.GBufferF"></a>**<font color="#f8805a">GBufferF</font>**  
+The texture "GBufferF" contains the world-space tangent in the RGB channels and the anisotropy in the alpha channel. This texture is unavailable if the selective output mask (GBufferB) does not have its 5th bit set.  
+- <a name="carla.GBufferTextureID.Velocity"></a>**<font color="#f8805a">Velocity</font>**  
+The texture "Velocity" contains the screen-space velocity of the scene objects.  
+- <a name="carla.GBufferTextureID.SSAO"></a>**<font color="#f8805a">SSAO</font>**  
+The texture "SSAO" contains the screen-space ambient occlusion texture.  
+- <a name="carla.GBufferTextureID.CustomDepth"></a>**<font color="#f8805a">CustomDepth</font>**  
+The texture "CustomDepth" contains the Unreal Engine custom depth data.  
+- <a name="carla.GBufferTextureID.CustomStencil"></a>**<font color="#f8805a">CustomStencil</font>**  
+The texture "CustomStencil" contains the Unreal Engine custom stencil data.  
+
+---
+
 ## carla.GearPhysicsControl<a name="carla.GearPhysicsControl"></a>
 Class that provides access to vehicle transmission details by defining a gear and when to run on it. This will be later used by [carla.VehiclePhysicsControl](#carla.VehiclePhysicsControl) to help simulate physics.  
 
@@ -2114,8 +2165,17 @@ When <b>True</b> the sensor will be waiting for data.
 The function the sensor will be calling to every time a new measurement is received. This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.  
     - **Parameters:**
         - `callback` (_function_) - The called function with one argument containing the sensor data.  
+- <a name="carla.Sensor.listen_to_gbuffer"></a>**<font color="#7fb800">listen_to_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>, <font color="#00a6ed">**callback**</font>)  
+The function the sensor will be calling to every time the desired GBuffer texture is received.<br> This function needs for an argument containing an object type [carla.SensorData](#carla.SensorData) to work with.  
+    - **Parameters:**
+        - `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the desired Unreal Engine GBuffer texture.  
+        - `callback` (_function_) - The called function with one argument containing the received GBuffer texture.  
 - <a name="carla.Sensor.stop"></a>**<font color="#7fb800">stop</font>**(<font color="#00a6ed">**self**</font>)  
 Commands the sensor to stop listening for data.  
+- <a name="carla.Sensor.stop_gbuffer"></a>**<font color="#7fb800">stop_gbuffer</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**gbuffer_id**</font>)  
+Commands the sensor to stop listening for the specified GBuffer texture.  
+    - **Parameters:**
+        - `gbuffer_id` (_[carla.GBufferTextureID](#carla.GBufferTextureID)_) - The ID of the Unreal Engine GBuffer texture.  
 
 ##### Dunder methods
 - <a name="carla.Sensor.__str__"></a>**<font color="#7fb800">\__str__</font>**(<font color="#00a6ed">**self**</font>)  
@@ -3977,384 +4037,6 @@ document.getElementById("snipets-container").innerHTML = null;
 }
 </script>
   
-<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.enable_environment_objects
-</p>
-<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
-
-```py
-  
-# This recipe turn visibility off and on for two specifc buildings on the map
-
-# Get the buildings in the world
-world = client.get_world()
-env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
-
-# Access individual building IDs and save in a set
-building_01 = env_objs[0]
-building_02 = env_objs[1]
-objects_to_toggle = {building_01.id, building_02.id}
-
-# Toggle buildings off
-world.enable_environment_objects(objects_to_toggle, False)
-# Toggle buildings on
-world.enable_environment_objects(objects_to_toggle, True)
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.DebugHelper.draw_string
-</p>
-<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe is a modification of lane_explorer.py example.
-# It draws the path of an actor through the world, printing information at each waypoint.
-
-# ...
-current_w = map.get_waypoint(vehicle.get_location())
-while True:
-
-    next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
-    # Check if the vehicle is moving
-    if next_w.id != current_w.id:
-        vector = vehicle.get_velocity()
-        # Check if the vehicle is on a sidewalk
-        if current_w.lane_type == carla.LaneType.Sidewalk:
-            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
-        else:
-            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
-        debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
-        draw_transform(debug, current_w.transform, white, 60)
-
-    # Update the current waypoint and sleep for some time
-    current_w = next_w
-    time.sleep(args.tick_time)
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.unload_map_layer
-</p>
-<div id="carla.World.unload_map_layer-code" class="SnipetContent">
-
-```py
-  
-# This recipe toggles off several layers in our "_Opt" maps
-
-# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
-# as well as buildings and parked vehicles
-world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles) 
-
-# Toggle all buildings off
-world.unload_map_layer(carla.MapLayer.Buildings)
-
-# Toggle all parked vehicles off
-world.unload_map_layer(carla.MapLayer.ParkedVehicles)
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.Vehicle.set_wheel_steer_direction
-</p>
-<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
-
-```py
-  
-# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
-
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
-vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.Client.__init__-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.Client.__init__
-</p>
-<div id="carla.Client.__init__-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe shows in every script provided in PythonAPI/Examples 
-# and it is used to parse the client creation arguments when running the script. 
-
-    argparser = argparse.ArgumentParser(
-        description=__doc__)
-    argparser.add_argument(
-        '--host',
-        metavar='H',
-        default='127.0.0.1',
-        help='IP of the host server (default: 127.0.0.1)')
-    argparser.add_argument(
-        '-p', '--port',
-        metavar='P',
-        default=2000,
-        type=int,
-        help='TCP port to listen to (default: 2000)')
-    argparser.add_argument(
-        '-s', '--speed',
-        metavar='FACTOR',
-        default=1.0,
-        type=float,
-        help='rate at which the weather changes (default: 1.0)')
-    args = argparser.parse_args()
-
-    speed_factor = args.speed
-    update_freq = 0.1 / speed_factor
-
-    client = carla.Client(args.host, args.port)
-
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.Map.get_waypoint
-</p>
-<div id="carla.Map.get_waypoint-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe shows the current traffic rules affecting the vehicle. 
-# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
-
-# ...
-waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
-print("Current lane type: " + str(waypoint.lane_type))
-# Check current lane change allowed
-print("Current Lane change:  " + str(waypoint.lane_change))
-# Left and Right lane markings
-print("L lane marking type: " + str(waypoint.left_lane_marking.type))
-print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
-print("R lane marking type: " + str(waypoint.right_lane_marking.type))
-print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-
-<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
-  
-</div>
-  
-<div id ="carla.World.spawn_actor-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.spawn_actor
-</p>
-<div id="carla.World.spawn_actor-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe attaches different camera / sensors to a vehicle with different attachments.
-
-# ...
-camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
-# Default attachment:  Attachment.Rigid
-gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
-collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
-lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.WalkerAIController.stop
-</p>
-<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
-
-```py
-  
-
-#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
-
-# stop pedestrians (list is [controller, actor, controller, actor ...])
-for i in range(0, len(all_id), 2):
-    all_actors[i].stop()
-
-# destroy pedestrian (actor and controller)
-client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.DebugHelper.draw_box
-</p>
-<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
-
-# ....
-debug = world.debug
-world_snapshot = world.get_snapshot()
-
-for actor_snapshot in world_snapshot:
-    actual_actor = world.get_actor(actor_snapshot.id)
-    if actual_actor.type_id == 'traffic.traffic_light':
-        debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
-# ...
-
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-
-<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
-  
-</div>
-  
-<div id ="carla.World.get_spectator-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.World.get_spectator
-</p>
-<div id="carla.World.get_spectator-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe spawns an actor and the spectator camera at the actor's location.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.Sensor.listen-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.Sensor.listen
-</p>
-<div id="carla.Sensor.listen-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe applies a color conversion to the image taken by a camera sensor,
-# so it is converted to a semantic segmentation image.
-
-# ...
-camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
-# ...
-cc = carla.ColorConverter.CityScapesPalette
-camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
-# ...
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-</div>
-  
-<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
-<p class="SnipetFont">
-Snippet for carla.TrafficLight.set_state
-</p>
-<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
-
-```py
-  
-
-# This recipe changes from red to green the traffic light that affects the vehicle. 
-# This is done by detecting if the vehicle actor is at a traffic light.
-
-# ...
-world = client.get_world()
-spectator = world.get_spectator()
-
-vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
-transform = random.choice(world.get_map().get_spawn_points())
-vehicle = world.try_spawn_actor(vehicle_bp, transform)
-
-# Wait for world to get the vehicle actor
-world.tick()
-
-world_snapshot = world.wait_for_tick()
-actor_snapshot = world_snapshot.find(vehicle.id)
-
-# Set spectator at given transform (vehicle transform)
-spectator.set_transform(actor_snapshot.get_transform())
-# ...# ...
-if vehicle_actor.is_at_traffic_light():
-    traffic_light = vehicle_actor.get_traffic_light()
-    if traffic_light.get_state() == carla.TrafficLightState.Red:
-       # world.hud.notification("Traffic light changed! Good to go!")
-        traffic_light.set_state(carla.TrafficLightState.Green)
-# ...
-
-  
-
-```
-<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
-  
-
-<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
-  
-</div>
-  
 <div id ="carla.ActorBlueprint.set_attribute-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.ActorBlueprint.set_attribute
@@ -4462,6 +4144,333 @@ for i in range(0, len(all_actors), 2):
   
 </div>
   
+<div id ="carla.Client.__init__-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.Client.__init__
+</p>
+<div id="carla.Client.__init__-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe shows in every script provided in PythonAPI/Examples 
+# and it is used to parse the client creation arguments when running the script. 
+
+    argparser = argparse.ArgumentParser(
+        description=__doc__)
+    argparser.add_argument(
+        '--host',
+        metavar='H',
+        default='127.0.0.1',
+        help='IP of the host server (default: 127.0.0.1)')
+    argparser.add_argument(
+        '-p', '--port',
+        metavar='P',
+        default=2000,
+        type=int,
+        help='TCP port to listen to (default: 2000)')
+    argparser.add_argument(
+        '-s', '--speed',
+        metavar='FACTOR',
+        default=1.0,
+        type=float,
+        help='rate at which the weather changes (default: 1.0)')
+    args = argparser.parse_args()
+
+    speed_factor = args.speed
+    update_freq = 0.1 / speed_factor
+
+    client = carla.Client(args.host, args.port)
+
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Client.__init__-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.DebugHelper.draw_box-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.DebugHelper.draw_box
+</p>
+<div id="carla.DebugHelper.draw_box-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe shows how to draw traffic light actor bounding boxes from a world snapshot.
+
+# ....
+debug = world.debug
+world_snapshot = world.get_snapshot()
+
+for actor_snapshot in world_snapshot:
+    actual_actor = world.get_actor(actor_snapshot.id)
+    if actual_actor.type_id == 'traffic.traffic_light':
+        debug.draw_box(carla.BoundingBox(actor_snapshot.get_transform().location,carla.Vector3D(0.5,0.5,2)),actor_snapshot.get_transform().rotation, 0.05, carla.Color(255,0,0,0),0)
+# ...
+
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_box-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+
+<img src="/img/snipets_images/carla.DebugHelper.draw_box.jpg">
+  
+</div>
+  
+<div id ="carla.DebugHelper.draw_string-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.DebugHelper.draw_string
+</p>
+<div id="carla.DebugHelper.draw_string-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe is a modification of lane_explorer.py example.
+# It draws the path of an actor through the world, printing information at each waypoint.
+
+# ...
+current_w = map.get_waypoint(vehicle.get_location())
+while True:
+
+    next_w = map.get_waypoint(vehicle.get_location(), lane_type=carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk )
+    # Check if the vehicle is moving
+    if next_w.id != current_w.id:
+        vector = vehicle.get_velocity()
+        # Check if the vehicle is on a sidewalk
+        if current_w.lane_type == carla.LaneType.Sidewalk:
+            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else red, 60)
+        else:
+            draw_waypoint_union(debug, current_w, next_w, cyan if current_w.is_junction else green, 60)
+        debug.draw_string(current_w.transform.location, str('%15.0f km/h' % (3.6 * math.sqrt(vector.x**2 + vector.y**2 + vector.z**2))), False, orange, 60)
+        draw_transform(debug, current_w.transform, white, 60)
+
+    # Update the current waypoint and sleep for some time
+    current_w = next_w
+    time.sleep(args.tick_time)
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.DebugHelper.draw_string-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.Map.get_waypoint-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.Map.get_waypoint
+</p>
+<div id="carla.Map.get_waypoint-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe shows the current traffic rules affecting the vehicle. 
+# Shows the current lane type and if a lane change can be done in the actual lane or the surrounding ones.
+
+# ...
+waypoint = world.get_map().get_waypoint(vehicle.get_location(),project_to_road=True, lane_type=(carla.LaneType.Driving | carla.LaneType.Shoulder | carla.LaneType.Sidewalk))
+print("Current lane type: " + str(waypoint.lane_type))
+# Check current lane change allowed
+print("Current Lane change:  " + str(waypoint.lane_change))
+# Left and Right lane markings
+print("L lane marking type: " + str(waypoint.left_lane_marking.type))
+print("L lane marking change: " + str(waypoint.left_lane_marking.lane_change))
+print("R lane marking type: " + str(waypoint.right_lane_marking.type))
+print("R lane marking change: " + str(waypoint.right_lane_marking.lane_change))
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Map.get_waypoint-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+
+<img src="/img/snipets_images/carla.Map.get_waypoint.jpg">
+  
+</div>
+  
+<div id ="carla.Sensor.listen-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.Sensor.listen
+</p>
+<div id="carla.Sensor.listen-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe applies a color conversion to the image taken by a camera sensor,
+# so it is converted to a semantic segmentation image.
+
+# ...
+camera_bp = world.get_blueprint_library().filter('sensor.camera.semantic_segmentation')
+# ...
+cc = carla.ColorConverter.CityScapesPalette
+camera.listen(lambda image: image.save_to_disk('output/%06d.png' % image.frame, cc))
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Sensor.listen-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.TrafficLight.set_state-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.TrafficLight.set_state
+</p>
+<div id="carla.TrafficLight.set_state-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe changes from red to green the traffic light that affects the vehicle. 
+# This is done by detecting if the vehicle actor is at a traffic light.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...# ...
+if vehicle_actor.is_at_traffic_light():
+    traffic_light = vehicle_actor.get_traffic_light()
+    if traffic_light.get_state() == carla.TrafficLightState.Red:
+       # world.hud.notification("Traffic light changed! Good to go!")
+        traffic_light.set_state(carla.TrafficLightState.Green)
+# ...
+
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.TrafficLight.set_state-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+
+<img src="/img/snipets_images/carla.TrafficLight.set_state.gif">
+  
+</div>
+  
+<div id ="carla.Vehicle.set_wheel_steer_direction-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.Vehicle.set_wheel_steer_direction
+</p>
+<div id="carla.Vehicle.set_wheel_steer_direction-code" class="SnipetContent">
+
+```py
+  
+# Sets the appearance of the vehicles front wheels to 40°. Vehicle physics will not be affected.
+
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FR_Wheel, 40.0)
+vehicle.set_wheel_steer_direction(carla.VehicleWheelLocation.FL_Wheel, 40.0)
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.Vehicle.set_wheel_steer_direction-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.WalkerAIController.stop-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.WalkerAIController.stop
+</p>
+<div id="carla.WalkerAIController.stop-code" class="SnipetContent">
+
+```py
+  
+
+#To destroy the pedestrians, stop them from the navigation, and then destroy the objects (actor and controller).
+
+# stop pedestrians (list is [controller, actor, controller, actor ...])
+for i in range(0, len(all_id), 2):
+    all_actors[i].stop()
+
+# destroy pedestrian (actor and controller)
+client.apply_batch([carla.command.DestroyActor(x) for x in all_id])
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.WalkerAIController.stop-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.World.enable_environment_objects-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.enable_environment_objects
+</p>
+<div id="carla.World.enable_environment_objects-code" class="SnipetContent">
+
+```py
+  
+# This recipe turn visibility off and on for two specifc buildings on the map
+
+# Get the buildings in the world
+world = client.get_world()
+env_objs = world.get_environment_objects(carla.CityObjectLabel.Buildings)
+
+# Access individual building IDs and save in a set
+building_01 = env_objs[0]
+building_02 = env_objs[1]
+objects_to_toggle = {building_01.id, building_02.id}
+
+# Toggle buildings off
+world.enable_environment_objects(objects_to_toggle, False)
+# Toggle buildings on
+world.enable_environment_objects(objects_to_toggle, True)
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.enable_environment_objects-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.World.get_spectator-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.get_spectator
+</p>
+<div id="carla.World.get_spectator-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe spawns an actor and the spectator camera at the actor's location.
+
+# ...
+world = client.get_world()
+spectator = world.get_spectator()
+
+vehicle_bp = random.choice(world.get_blueprint_library().filter('vehicle.bmw.*'))
+transform = random.choice(world.get_map().get_spawn_points())
+vehicle = world.try_spawn_actor(vehicle_bp, transform)
+
+# Wait for world to get the vehicle actor
+world.tick()
+
+world_snapshot = world.wait_for_tick()
+actor_snapshot = world_snapshot.find(vehicle.id)
+
+# Set spectator at given transform (vehicle transform)
+spectator.set_transform(actor_snapshot.get_transform())
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.get_spectator-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
 <div id ="carla.World.load_map_layer-snipet" style="display: none;">
 <p class="SnipetFont">
 Snippet for carla.World.load_map_layer
@@ -4490,6 +4499,57 @@ world.load_map_layer(carla.MapLayer.ParkedVehicles)
   
 </div>
   
+<div id ="carla.World.spawn_actor-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.spawn_actor
+</p>
+<div id="carla.World.spawn_actor-code" class="SnipetContent">
+
+```py
+  
+
+# This recipe attaches different camera / sensors to a vehicle with different attachments.
+
+# ...
+camera = world.spawn_actor(rgb_camera_bp, transform, attach_to=vehicle, attachment_type=Attachment.Rigid)
+# Default attachment:  Attachment.Rigid
+gnss_sensor = world.spawn_actor(sensor_gnss_bp, transform, attach_to=vehicle)
+collision_sensor = world.spawn_actor(sensor_collision_bp, transform, attach_to=vehicle)
+lane_invasion_sensor = world.spawn_actor(sensor_lane_invasion_bp, transform, attach_to=vehicle)
+# ...
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.spawn_actor-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
+<div id ="carla.World.unload_map_layer-snipet" style="display: none;">
+<p class="SnipetFont">
+Snippet for carla.World.unload_map_layer
+</p>
+<div id="carla.World.unload_map_layer-code" class="SnipetContent">
+
+```py
+  
+# This recipe toggles off several layers in our "_Opt" maps
+
+# Load town one with minimum layout (roads, sidewalks, traffic lights and traffic signs)
+# as well as buildings and parked vehicles
+world = client.load_world('Town01_Opt', carla.MapLayer.Buildings | carla.MapLayer.ParkedVehicles) 
+
+# Toggle all buildings off
+world.unload_map_layer(carla.MapLayer.Buildings)
+
+# Toggle all parked vehicles off
+world.unload_map_layer(carla.MapLayer.ParkedVehicles)
+  
+
+```
+<button id="button1" class="CopyScript" onclick="CopyToClipboard('carla.World.unload_map_layer-code')">Copy snippet</button>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<button id="button1" class="CloseSnipet" onclick="CloseSnipet()">Close snippet</button><br><br>
+  
+</div>
+  
 
 </div>
 

LibCarla/source/carla/client/ServerSideSensor.cpp

@@ -24,6 +24,10 @@ namespace client {
     if (IsListening() && GetEpisode().IsValid()) {
       try {
         Stop();
+        for (uint32_t i = 1; i != 16; ++i) {
+          if (listening_mask.test(i))
+            StopGBuffer(i);
+        }
       } catch (const std::exception &e) {
         log_error("exception trying to stop sensor:", GetDisplayId(), ':', e.what());
       }
@@ -34,26 +38,48 @@ namespace client {
     log_debug("calling sensor Listen() ", GetDisplayId());
     log_debug(GetDisplayId(), ": subscribing to stream");
     GetEpisode().Lock()->SubscribeToSensor(*this, std::move(callback));
-    _is_listening = true;
+    listening_mask.set(0);
   }
 
   void ServerSideSensor::Stop() {
     log_debug("calling sensor Stop() ", GetDisplayId());
-    if (!_is_listening) {
+    if (!IsListening()) {
       log_warning(
           "attempting to unsubscribe from stream but sensor wasn't listening:",
           GetDisplayId());
       return;
     }
     GetEpisode().Lock()->UnSubscribeFromSensor(*this);
-    _is_listening = false;
+    listening_mask.reset(0);
+  }
+
+  void ServerSideSensor::ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback) {
+    log_debug(GetDisplayId(), ": subscribing to gbuffer stream");
+    GetEpisode().Lock()->SubscribeToGBuffer(*this, GBufferId, std::move(callback));
+    listening_mask.set(0);
+    listening_mask.set(GBufferId + 1);
+  }
+
+  void ServerSideSensor::StopGBuffer(uint32_t GBufferId) {
+    log_debug(GetDisplayId(), ": unsubscribing from gbuffer stream");
+    GetEpisode().Lock()->UnSubscribeFromGBuffer(*this, GBufferId);
+    listening_mask.reset(GBufferId + 1);
+    if (listening_mask.count() == 1) {
+      listening_mask.reset(0);
+    }
   }
 
   bool ServerSideSensor::Destroy() {
     log_debug("calling sensor Destroy() ", GetDisplayId());
     if (IsListening()) {
+      for (uint32_t i = 1; i != 16; ++i) {
+        if (listening_mask.test(i)) {
+          StopGBuffer(i);
+        }
+      }
       Stop();
     }
+    listening_mask = {};
     return Actor::Destroy();
   }
 

LibCarla/source/carla/client/ServerSideSensor.h

@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/client/Sensor.h"
+#include <bitset>
 
 namespace carla {
 namespace client {
@@ -33,7 +34,17 @@ namespace client {
     /// Return whether this Sensor instance is currently listening to the
     /// associated sensor in the simulator.
     bool IsListening() const override {
-      return _is_listening;
+      return listening_mask.test(0);
+    }
+
+    /// Listen fr
+    void ListenToGBuffer(uint32_t GBufferId, CallbackFunctionType callback);
+
+    /// Stop listening for a specific gbuffer stream.
+    void StopGBuffer(uint32_t GBufferId);
+
+    inline bool IsListeningGBuffer(uint32_t id) const {
+      return listening_mask.test(id + 1);
     }
 
     /// @copydoc Actor::Destroy()
@@ -43,7 +54,8 @@ namespace client {
 
   private:
 
-    bool _is_listening = false;
+    std::bitset<32> listening_mask;
+
   };
 
 } // namespace client

LibCarla/source/carla/client/detail/Client.cpp

@@ -586,6 +586,27 @@ namespace detail {
     _pimpl->streaming_client.UnSubscribe(token);
   }
 
+  void Client::SubscribeToGBuffer(
+      rpc::ActorId ActorId,
+      uint32_t GBufferId,
+      std::function<void(Buffer)> callback)
+  {
+    std::vector<unsigned char> token_data = _pimpl->CallAndWait<std::vector<unsigned char>>("get_gbuffer_token", ActorId, GBufferId);
+    streaming::Token token;
+    std::memcpy(&token.data[0u], token_data.data(), token_data.size());
+    _pimpl->streaming_client.Subscribe(token, std::move(callback));
+  }
+
+  void Client::UnSubscribeFromGBuffer(
+      rpc::ActorId ActorId,
+      uint32_t GBufferId)
+  {
+    std::vector<unsigned char> token_data = _pimpl->CallAndWait<std::vector<unsigned char>>("get_gbuffer_token", ActorId, GBufferId);
+    streaming::Token token;
+    std::memcpy(&token.data[0u], token_data.data(), token_data.size());
+    _pimpl->streaming_client.UnSubscribe(token);
+  }
+
   void Client::DrawDebugShape(const rpc::DebugShape &shape) {
     _pimpl->AsyncCall("draw_debug_shape", shape);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -368,8 +368,17 @@ namespace detail {
         const streaming::Token &token,
         std::function<void(Buffer)> callback);
 
+    void SubscribeToGBuffer(
+        rpc::ActorId ActorId,
+        uint32_t GBufferId,
+        std::function<void(Buffer)> callback);
+
     void UnSubscribeFromStream(const streaming::Token &token);
 
+    void UnSubscribeFromGBuffer(
+        rpc::ActorId ActorId,
+        uint32_t GBufferId);
+
     void DrawDebugShape(const rpc::DebugShape &shape);
 
     void ApplyBatch(

LibCarla/source/carla/client/detail/Simulator.cpp

@@ -389,9 +389,26 @@ namespace detail {
           cb(std::move(data));
         });
   }
-
+  
-  void Simulator::UnSubscribeFromSensor(const Sensor &sensor) {
+  void Simulator::UnSubscribeFromSensor(Actor &sensor) {
     _client.UnSubscribeFromStream(sensor.GetActorDescription().GetStreamToken());
+    // If in the future we need to unsubscribe from each gbuffer individually, it should be done here.
+  }
+
+  void Simulator::SubscribeToGBuffer(
+      Actor &actor,
+      uint32_t gbuffer_id,
+      std::function<void(SharedPtr<sensor::SensorData>)> callback) {
+    _client.SubscribeToGBuffer(actor.GetId(), gbuffer_id,
+        [cb=std::move(callback), ep=WeakEpisodeProxy{shared_from_this()}](auto buffer) {
+          auto data = sensor::Deserializer::Deserialize(std::move(buffer));
+          data->_episode = ep.TryLock();
+          cb(std::move(data));
+        });
+  }
+
+  void Simulator::UnSubscribeFromGBuffer(Actor &actor, uint32_t gbuffer_id) {
+    _client.UnSubscribeFromGBuffer(actor.GetId(), gbuffer_id);
   }
 
   void Simulator::FreezeAllTrafficLights(bool frozen) {

LibCarla/source/carla/client/detail/Simulator.h

@@ -590,7 +590,16 @@ namespace detail {
         const Sensor &sensor,
         std::function<void(SharedPtr<sensor::SensorData>)> callback);
 
-    void UnSubscribeFromSensor(const Sensor &sensor);
+    void UnSubscribeFromSensor(Actor &sensor);
+
+    void SubscribeToGBuffer(
+        Actor & sensor,
+        uint32_t gbuffer_id,
+        std::function<void(SharedPtr<sensor::SensorData>)> callback);
+
+    void UnSubscribeFromGBuffer(
+        Actor & sensor,
+        uint32_t gbuffer_id);
 
     /// @}
     // =========================================================================

LibCarla/source/carla/sensor/SensorRegistry.h

@@ -27,6 +27,8 @@
 #include "carla/sensor/s11n/ObstacleDetectionEventSerializer.h"
 #include "carla/sensor/s11n/RadarSerializer.h"
 #include "carla/sensor/s11n/SemanticLidarSerializer.h"
+#include "carla/sensor/s11n/GBufferUint8Serializer.h"
+#include "carla/sensor/s11n/GBufferFloatSerializer.h"
 
 // 2. Add a forward-declaration of the sensor here.
 class ACollisionSensor;
@@ -46,6 +48,8 @@ class ASemanticSegmentationCamera;
 class AInstanceSegmentationCamera;
 class ARssSensor;
 class FWorldObserver;
+struct FCameraGBufferUint8;
+struct FCameraGBufferFloat;
 
 namespace carla {
 namespace sensor {
@@ -74,7 +78,9 @@ namespace sensor {
     std::pair<ASceneCaptureCamera *, s11n::ImageSerializer>,
     std::pair<ASemanticSegmentationCamera *, s11n::ImageSerializer>,
     std::pair<AInstanceSegmentationCamera *, s11n::ImageSerializer>,
-    std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>
+    std::pair<FWorldObserver *, s11n::EpisodeStateSerializer>,
+    std::pair<FCameraGBufferUint8 *, s11n::GBufferUint8Serializer>,
+    std::pair<FCameraGBufferFloat *, s11n::GBufferFloatSerializer>
   >;
 
 } // namespace sensor

LibCarla/source/carla/sensor/data/Image.h

@@ -15,6 +15,9 @@ namespace data {
 
   /// An image of 32-bit BGRA colors (8-bit channels, 4 bytes)
   using Image = ImageTmpl<Color>;
+  
+  /// An image of float BGRA colors (32-bit channels)
+  using FloatImage = ImageTmpl<rpc::FloatColor>;
 
   /// An image of 64-bit BGRA colors (16-bit channels, 2 floats)
   using OpticalFlowImage = ImageTmpl<OpticalFlowPixel>;

LibCarla/source/carla/sensor/data/ImageTmpl.h

@@ -10,6 +10,8 @@
 #include "carla/sensor/data/Array.h"
 #include "carla/sensor/s11n/ImageSerializer.h"
 #include "carla/sensor/s11n/OpticalFlowImageSerializer.h"
+#include "carla/sensor/s11n/GBufferUint8Serializer.h"
+#include "carla/sensor/s11n/GBufferFloatSerializer.h"
 #include "carla/sensor/s11n/NormalsImageSerializer.h"
 
 namespace carla {
@@ -28,6 +30,8 @@ namespace data {
 
     friend Serializer;
     friend SerializerOpticalFlow;
+    friend s11n::GBufferUint8Serializer;
+    friend s11n::GBufferFloatSerializer;
     friend SerializerNormals;
 
     explicit ImageTmpl(RawData &&data)

LibCarla/source/carla/sensor/s11n/GBufferFloatSerializer.cpp

@@ -0,0 +1,22 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/sensor/s11n/GBufferFloatSerializer.h"
+
+#include "carla/sensor/data/Image.h"
+
+namespace carla {
+namespace sensor {
+namespace s11n {
+
+  SharedPtr<SensorData> GBufferFloatSerializer::Deserialize(RawData &&data) {
+    auto image = SharedPtr<data::FloatImage>(new data::FloatImage{std::move(data)});
+    return image;
+  }
+
+} // namespace s11n
+} // namespace sensor
+} // namespace carla

LibCarla/source/carla/sensor/s11n/GBufferFloatSerializer.h

@@ -0,0 +1,62 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Memory.h"
+#include "carla/sensor/RawData.h"
+
+#include <cstdint>
+#include <cstring>
+
+namespace carla {
+namespace sensor {
+
+  class SensorData;
+
+namespace s11n {
+
+  /// Serializes image buffers generated by camera sensors.
+  class GBufferFloatSerializer {
+  public:
+
+#pragma pack(push, 1)
+    struct ImageHeader {
+      uint32_t width;
+      uint32_t height;
+      float fov_angle;
+    };
+#pragma pack(pop)
+
+    constexpr static auto header_offset = sizeof(ImageHeader);
+
+    static const ImageHeader &DeserializeHeader(const RawData &data) {
+      return *reinterpret_cast<const ImageHeader *>(data.begin());
+    }
+
+    template <typename Sensor>
+    static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap, 
+        uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle);
+
+    static SharedPtr<SensorData> Deserialize(RawData &&data);
+  };
+
+  template <typename Sensor>
+  inline Buffer GBufferFloatSerializer::Serialize(const Sensor &/*sensor*/, Buffer &&bitmap, 
+      uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle) {
+    DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
+    ImageHeader header = {
+      ImageWidth,
+      ImageHeight,
+      FovAngle
+    };
+    std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
+    return std::move(bitmap);
+  }
+
+} // namespace s11n
+} // namespace sensor
+} // namespace carla

LibCarla/source/carla/sensor/s11n/GBufferUint8Serializer.cpp

@@ -0,0 +1,22 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "carla/sensor/s11n/GBufferUint8Serializer.h"
+
+#include "carla/sensor/data/Image.h"
+
+namespace carla {
+namespace sensor {
+namespace s11n {
+
+  SharedPtr<SensorData> GBufferUint8Serializer::Deserialize(RawData &&data) {
+    auto image = SharedPtr<data::Image>(new data::Image{std::move(data)});
+    return image;
+  }
+
+} // namespace s11n
+} // namespace sensor
+} // namespace carla

LibCarla/source/carla/sensor/s11n/GBufferUint8Serializer.h

@@ -0,0 +1,62 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/Memory.h"
+#include "carla/sensor/RawData.h"
+
+#include <cstdint>
+#include <cstring>
+
+namespace carla {
+namespace sensor {
+
+  class SensorData;
+
+namespace s11n {
+
+  /// Serializes image buffers generated by camera sensors.
+  class GBufferUint8Serializer {
+  public:
+
+#pragma pack(push, 1)
+    struct ImageHeader {
+      uint32_t width;
+      uint32_t height;
+      float fov_angle;
+    };
+#pragma pack(pop)
+
+    constexpr static auto header_offset = sizeof(ImageHeader);
+
+    static const ImageHeader &DeserializeHeader(const RawData &data) {
+      return *reinterpret_cast<const ImageHeader *>(data.begin());
+    }
+
+    template <typename Sensor>
+    static Buffer Serialize(const Sensor &sensor, Buffer &&bitmap, 
+        uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle);
+
+    static SharedPtr<SensorData> Deserialize(RawData &&data);
+  };
+
+  template <typename Sensor>
+  inline Buffer GBufferUint8Serializer::Serialize(const Sensor &/*sensor*/, Buffer &&bitmap, 
+      uint32_t ImageWidth, uint32_t ImageHeight, float FovAngle) {
+    DEBUG_ASSERT(bitmap.size() > sizeof(ImageHeader));
+    ImageHeader header = {
+      ImageWidth,
+      ImageHeight,
+      FovAngle
+    };
+    std::memcpy(bitmap.data(), reinterpret_cast<const void *>(&header), sizeof(header));
+    return std::move(bitmap);
+  }
+
+} // namespace s11n
+} // namespace sensor
+} // namespace carla

PythonAPI/carla/source/libcarla/Sensor.cpp

@@ -14,6 +14,13 @@ static void SubscribeToStream(carla::client::Sensor &self, boost::python::object
   self.Listen(MakeCallback(std::move(callback)));
 }
 
+static void SubscribeToGBuffer(
+  carla::client::ServerSideSensor &self,
+  uint32_t GBufferId,
+  boost::python::object callback) {
+  self.ListenToGBuffer(GBufferId, MakeCallback(std::move(callback)));
+}
+
 void export_sensor() {
   using namespace boost::python;
   namespace cc = carla::client;
@@ -27,6 +34,8 @@ void export_sensor() {
 
   class_<cc::ServerSideSensor, bases<cc::Sensor>, boost::noncopyable, boost::shared_ptr<cc::ServerSideSensor>>
       ("ServerSideSensor", no_init)
+    .def("listen_to_gbuffer", &SubscribeToGBuffer, (arg("gbuffer_id"), arg("callback")))
+    .def("stop_gbuffer", &cc::ServerSideSensor::StopGBuffer, (arg("gbuffer_id")))
     .def(self_ns::str(self_ns::self))
   ;
 

PythonAPI/carla/source/libcarla/SensorData.cpp

@@ -387,6 +387,24 @@ void export_sensor_data() {
     .value("CityScapesPalette", EColorConverter::CityScapesPalette)
   ;
 
+  // The values here should match the ones in the enum EGBufferTextureID,
+  // from the CARLA fork of Unreal Engine (Renderer/Public/GBufferView.h).
+  enum_<int>("GBufferTextureID")
+    .value("SceneColor", 0)
+    .value("SceneDepth", 1)
+    .value("SceneStencil", 2)
+    .value("GBufferA", 3)
+    .value("GBufferB", 4)
+    .value("GBufferC", 5)
+    .value("GBufferD", 6)
+    .value("GBufferE", 7)
+    .value("GBufferF", 8)
+    .value("Velocity", 9)
+    .value("SSAO", 10)
+    .value("CustomDepth", 11)
+    .value("CustomStencil", 12)
+  ;
+
   class_<csd::Image, bases<cs::SensorData>, boost::noncopyable, boost::shared_ptr<csd::Image>>("Image", no_init)
     .add_property("width", &csd::Image::GetWidth)
     .add_property("height", &csd::Image::GetHeight)

PythonAPI/docs/sensor.yml

@@ -45,6 +45,29 @@
       doc: >
         Commands the sensor to stop listening for data.
     # --------------------------------------
+    - def_name: listen_to_gbuffer
+      params:
+      - param_name: gbuffer_id
+        type: carla.GBufferTextureID
+        doc: >
+          The ID of the desired Unreal Engine GBuffer texture.
+      - param_name: callback
+        type: function
+        doc: >
+          The called function with one argument containing the received GBuffer texture.
+      doc: >
+        The function the sensor will be calling to every time the desired GBuffer texture is received.<br>
+        This function needs for an argument containing an object type carla.SensorData to work with.
+    # --------------------------------------
+    - def_name: stop_gbuffer
+      params:
+      - param_name: gbuffer_id
+        type: carla.GBufferTextureID
+        doc: >
+          The ID of the Unreal Engine GBuffer texture.
+      doc: >
+        Commands the sensor to stop listening for the specified GBuffer texture.
+    # --------------------------------------
     - def_name: __str__
     # --------------------------------------
 

PythonAPI/docs/sensor_data.yml

@@ -863,4 +863,71 @@
     # --------------------------------------
     - def_name: __str__
     # --------------------------------------
+    
+  - class_name: GBufferTextureID
+    # - DESCRIPTION ------------------------
+    doc: >
+      Defines the identifiers of each GBuffer texture (See the method `carla.Sensor.listen_to_gbuffer`).
+    # - PROPERTIES -------------------------
+    instance_variables:
+    - var_name: SceneColor
+      doc: >
+        The texture "SceneColor" contains the final color of the image.
+    - var_name: SceneDepth
+      doc: >
+        The texture "SceneDepth" contains the depth buffer - linear in world units.
+    - var_name: SceneStencil
+      doc: >
+        The texture "SceneStencil" contains the stencil buffer.
+    - var_name: GBufferA
+      doc: >
+        The texture "GBufferA" contains the world-space normal vectors in the RGB channels. The alpha channel contains "per-object data".
+    - var_name: GBufferB
+      doc: >
+        The texture "GBufferB" contains the metallic, specular and roughness in the RGB channels, respectively. The alpha channel contains a mask where the lower 4 bits indicate the shading model and the upper 4 bits contain the selective output mask.
+    - var_name: GBufferC
+      doc: >
+        The texture "GBufferC" contains the diffuse color in the RGB channels, with the indirect irradiance in the alpha channel.<br>
+        If static lightning is not allowed, the alpha channel will contain the ambient occlusion instead.
+    - var_name: GBufferD
+      doc: >
+        The contents of the "GBufferD" varies depending on the rendered object's material shading model (GBufferB):<br>
+          - MSM_Subsurface (2), MSM_PreintegratedSkin (3), MSM_TwoSidedFoliage (6):<br>
+            RGB: Subsurface color.<br>
+            A: Opacity.<br>
+          - MSM_ClearCoat (4):<br>
+            R: Clear coat.<br>
+            G: Roughness.<br>
+          - MSM_SubsurfaceProfile (5):<br>
+            RGB: Subsurface profile.<br>
+          - MSM_Hair (7):<br>
+            RG: World normal.<br>
+            B: Backlit value.<br>
+          - MSM_Cloth (8):<br>
+            RGB: Subsurface color.<br>
+            A: Cloth value.<br>
+          - MSM_Eye (9):<br>
+            RG: Eye tangent.<br>
+            B: Iris mask.<br>
+            A: Iris distance.
+    - var_name: GBufferE
+      doc: >
+        The texture "GBufferE" contains the precomputed shadow factors in the RGBA channels. This texture is unavailable if the selective output mask (GBufferB) does not have its 4th bit set.
+    - var_name: GBufferF
+      doc: >
+        The texture "GBufferF" contains the world-space tangent in the RGB channels and the anisotropy in the alpha channel. This texture is unavailable if the selective output mask (GBufferB) does not have its 5th bit set.
+    - var_name: Velocity
+      doc: >
+        The texture "Velocity" contains the screen-space velocity of the scene objects.
+    - var_name: SSAO
+      doc: >
+        The texture "SSAO" contains the screen-space ambient occlusion texture.
+    - var_name: CustomDepth
+      doc: >
+        The texture "CustomDepth" contains the Unreal Engine custom depth data.
+    - var_name: CustomStencil
+      doc: >
+        The texture "CustomStencil" contains the Unreal Engine custom stencil data.
+    # --------------------------------------
+
 ...

PythonAPI/examples/tutorial_gbuffer.py

@@ -0,0 +1,127 @@
+#!/usr/bin/env python
+
+# Copyright (c) 2019 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>.
+
+import glob
+import os
+import sys
+
+try:
+    sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % (
+        sys.version_info.major,
+        sys.version_info.minor,
+        'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0])
+except IndexError:
+    pass
+
+import carla
+
+import random
+import time
+
+
+
+def main():
+    actor_list = []
+
+    # In this tutorial script, we are going to add a vehicle to the simulation
+    # and let it drive in autopilot. We will also create a camera attached to
+    # that vehicle, and save all the images generated by the camera to disk.
+    # Additionally, we will save all of the gbuffer textures for each frame.
+
+    try:
+        # First of all, we need to create the client that will send the requests
+        # to the simulator. Here we'll assume the simulator is accepting
+        # requests in the localhost at port 2000.
+        client = carla.Client('127.0.0.1', 2000)
+        client.set_timeout(2.0)
+
+        # Once we have a client we can retrieve the world that is currently
+        # running.
+        world = client.get_world()
+
+        # The world contains the list blueprints that we can use for adding new
+        # actors into the simulation.
+        blueprint_library = world.get_blueprint_library()
+
+        # Now let's filter all the blueprints of type 'vehicle' and choose one
+        # at random.
+        bp = random.choice(blueprint_library.filter('vehicle'))
+
+        # A blueprint contains the list of attributes that define a vehicle's
+        # instance, we can read them and modify some of them. For instance,
+        # let's randomize its color.
+        if bp.has_attribute('color'):
+            color = random.choice(bp.get_attribute('color').recommended_values)
+            bp.set_attribute('color', color)
+
+        # Now we need to give an initial transform to the vehicle. We choose a
+        # random transform from the list of recommended spawn points of the map.
+        transform = world.get_map().get_spawn_points()[0]
+
+        # So let's tell the world to spawn the vehicle.
+        vehicle = world.spawn_actor(bp, transform)
+
+        # It is important to note that the actors we create won't be destroyed
+        # unless we call their "destroy" function. If we fail to call "destroy"
+        # they will stay in the simulation even after we quit the Python script.
+        # For that reason, we are storing all the actors we create so we can
+        # destroy them afterwards.
+        actor_list.append(vehicle)
+        print('created %s' % vehicle.type_id)
+
+        # Let's put the vehicle to drive around.
+        vehicle.set_autopilot(True)
+
+        # Let's add now a "rgb" camera attached to the vehicle. Note that the
+        # transform we give here is now relative to the vehicle.
+        camera_bp = blueprint_library.find('sensor.camera.rgb')
+        camera_bp.set_attribute('image_size_x', '1920')
+        camera_bp.set_attribute('image_size_y', '1080')
+        camera_transform = carla.Transform(carla.Location(x=1.5, z=2.4))
+        camera = world.spawn_actor(camera_bp, camera_transform, attach_to=vehicle)
+        actor_list.append(camera)
+        print('created %s' % camera.type_id)
+
+        # Register a callback for whenever a new frame is available. This step is
+        # currently required to correctly receive the gbuffer textures, as it is 
+        # used to determine whether the sensor is active.
+        camera.listen(lambda image: image.save_to_disk('_out/FinalColor-%06d.png' % image.frame))
+
+        # Here we will register the callbacks for each gbuffer texture.
+        # The function "listen_to_gbuffer" behaves like the regular listen function,
+        # but you must first pass it the ID of the desired gbuffer texture.
+        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneColor, lambda image: image.save_to_disk('_out/SceneColor-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneDepth, lambda image: image.save_to_disk('_out/SceneDepth-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.SceneStencil, lambda image: image.save_to_disk('_out/SceneStencil-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferA, lambda image: image.save_to_disk('_out/GBufferA-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferB, lambda image: image.save_to_disk('_out/GBufferB-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferC, lambda image: image.save_to_disk('_out/GBufferC-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferD, lambda image: image.save_to_disk('_out/GBufferD-%06d.png' % image.frame))
+        # Note that some gbuffer textures may not be available for a particular scene.
+        # For example, the textures E and F are likely unavailable in this example,
+        # which will result in them being sent as black images.
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferE, lambda image: image.save_to_disk('_out/GBufferE-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.GBufferF, lambda image: image.save_to_disk('_out/GBufferF-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.Velocity, lambda image: image.save_to_disk('_out/Velocity-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.SSAO, lambda image: image.save_to_disk('_out/SSAO-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.CustomDepth, lambda image: image.save_to_disk('_out/CustomDepth-%06d.png' % image.frame))
+        camera.listen_to_gbuffer(carla.GBufferTextureID.CustomStencil, lambda image: image.save_to_disk('_out/CustomStencil-%06d.png' % image.frame))
+
+        time.sleep(10)
+
+    finally:
+
+        print('destroying actors')
+        camera.destroy()
+        client.apply_batch([carla.command.DestroyActor(x) for x in actor_list])
+        print('done.')
+
+
+if __name__ == '__main__':
+
+    main()

Unreal/CarlaUE4/Config/.gitignore

@@ -0,0 +1 @@
+OptionalModules.ini

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs

@@ -71,6 +71,7 @@ public class Carla : ModuleRules
         "Core",
         "RenderCore",
         "RHI",
+        "Renderer",
         "ProceduralMeshComponent"
         // ... add other public dependencies that you statically link with here ...
       }

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

@@ -0,0 +1,146 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla/Sensor/ImageUtil.h"
+#include "Runtime/RHI/Public/RHISurfaceDataConversion.h"
+
+
+
+namespace ImageUtil
+{
+  void DecodePixelsByFormat(
+      void* PixelData,
+      int32 SourcePitch,
+      FIntPoint SourceExtent,
+      FIntPoint DestinationExtent,
+      EPixelFormat Format,
+      FReadSurfaceDataFlags Flags,
+      TArrayView<FLinearColor> Out)
+  {
+    SourcePitch *= GPixelFormats[Format].BlockBytes;
+    auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
+    switch (Format)
+    {
+    case PF_G16:
+    case PF_R16_UINT:
+    case PF_R16_SINT:
+      // Shadow maps
+      ConvertRawR16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_R8G8B8A8:
+      ConvertRawR8G8B8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_B8G8R8A8:
+      ConvertRawB8G8R8A8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_A2B10G10R10:
+      ConvertRawA2B10G10R10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_FloatRGBA:
+    case PF_R16G16B16A16_UNORM:
+    case PF_R16G16B16A16_SNORM:
+      ConvertRawR16G16B16A16FDataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_FloatR11G11B10:
+      ConvertRawRR11G11B10DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_A32B32G32R32F:
+      ConvertRawR32G32B32A32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_A16B16G16R16:
+      ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_G16R16:
+      ConvertRawR16G16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_DepthStencil: // Depth / Stencil
+      ConvertRawD32S8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_X24_G8: // Depth Stencil
+      ConvertRawR24G8DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_R32_FLOAT: // Depth Stencil
+      ConvertRawR32DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_R16G16B16A16_UINT:
+    case PF_R16G16B16A16_SINT:
+      ConvertRawR16G16B16A16DataToFLinearColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    default:
+      UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
+      check(false);
+      break;
+    }
+  }
+
+  void DecodePixelsByFormat(
+      void* PixelData,
+      int32 SourcePitch,
+      FIntPoint SourceExtent,
+      FIntPoint DestinationExtent,
+      EPixelFormat Format,
+      FReadSurfaceDataFlags Flags,
+      TArrayView<FColor> Out)
+  {
+    SourcePitch *= GPixelFormats[Format].BlockBytes;
+    auto OutPixelCount = DestinationExtent.X * DestinationExtent.Y;
+    switch (Format)
+    {
+    case PF_G16:
+    case PF_R16_UINT:
+    case PF_R16_SINT:
+      // Shadow maps
+      ConvertRawR16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_R8G8B8A8:
+      ConvertRawR8G8B8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_B8G8R8A8:
+      ConvertRawB8G8R8A8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_A2B10G10R10:
+      ConvertRawR10G10B10A2DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_FloatRGBA:
+    case PF_R16G16B16A16_UNORM:
+    case PF_R16G16B16A16_SNORM:
+      ConvertRawR16G16B16A16FDataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
+      break;
+    case PF_FloatR11G11B10:
+      ConvertRawR11G11B10DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
+      break;
+    case PF_A32B32G32R32F:
+      ConvertRawR32G32B32A32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), false);
+      break;
+    case PF_A16B16G16R16:
+      ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_G16R16:
+      ConvertRawR16G16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_DepthStencil: // Depth / Stencil
+      ConvertRawD32S8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_X24_G8: // Depth / Stencil
+      ConvertRawR24G8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_R32_FLOAT: // Depth
+      ConvertRawR32DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData(), Flags);
+      break;
+    case PF_R16G16B16A16_UINT:
+    case PF_R16G16B16A16_SINT:
+      ConvertRawR16G16B16A16DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    case PF_G8:
+      ConvertRawR8DataToFColor(DestinationExtent.X, DestinationExtent.Y, (uint8*)PixelData, SourcePitch, Out.GetData());
+      break;
+    default:
+      UE_LOG(LogCarla, Warning, TEXT("Unsupported format %llu"), (unsigned long long)Format);
+      check(false);
+      break;
+    }
+  }
+}

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

@@ -0,0 +1,33 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "CoreMinimal.h"
+
+
+
+class FRHIGPUTextureReadback;
+
+namespace ImageUtil
+{
+  void DecodePixelsByFormat(
+      void* PixelData,
+      int32 SourcePitch,
+      FIntPoint SourceExtent,
+      FIntPoint DestinationExtent,
+      EPixelFormat Format,
+      FReadSurfaceDataFlags Flags,
+      TArrayView<FColor> Out);
+
+  void DecodePixelsByFormat(
+      void* PixelData,
+      int32 SourcePitch,
+      FIntPoint SourceExtent,
+      FIntPoint DestinationExtent,
+      EPixelFormat Format,
+      FReadSurfaceDataFlags Flags,
+      TArrayView<FLinearColor> Out);
+}

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

@@ -69,8 +69,6 @@ public:
   template <typename TSensor, typename TPixel>
   static void SendPixelsInRenderThread(TSensor &Sensor, bool use16BitFormat = false, std::function<TArray<TPixel>(void *, uint32)> Conversor = {});
 
-private:
-
   /// Copy the pixels in @a RenderTarget into @a Buffer.
   ///
   /// @pre To be called from render-thread.

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

@@ -13,17 +13,17 @@
 
 FActorDefinition ASceneCaptureCamera::GetSensorDefinition()
 {
-  constexpr bool bEnableModifyingPostProcessEffects = true;
+    constexpr bool bEnableModifyingPostProcessEffects = true;
-  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
+    return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
-      TEXT("rgb"),
+        TEXT("rgb"),
-      bEnableModifyingPostProcessEffects);
+        bEnableModifyingPostProcessEffects);
 }
 
-ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer &ObjectInitializer)
+ASceneCaptureCamera::ASceneCaptureCamera(const FObjectInitializer& ObjectInitializer)
-  : Super(ObjectInitializer)
+    : Super(ObjectInitializer)
 {
-  AddPostProcessingMaterial(
+    AddPostProcessingMaterial(
-      TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
+        TEXT("Material'/Carla/PostProcessingMaterials/PhysicLensDistortion.PhysicLensDistortion'"));
 }
 
 void ASceneCaptureCamera::BeginPlay()
@@ -62,3 +62,8 @@ void ASceneCaptureCamera::PostPhysTick(UWorld *World, ELevelTick TickType, float
   );
   FPixelReader::SendPixelsInRenderThread<ASceneCaptureCamera, FColor>(*this);
 }
+
+void ASceneCaptureCamera::SendGBufferTextures(FGBufferRequest& GBuffer)
+{
+    SendGBufferTexturesInternal(*this, GBuffer);
+}

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

@@ -26,6 +26,8 @@ public:
   ASceneCaptureCamera(const FObjectInitializer &ObjectInitializer);
 
 protected:
+	
+  virtual void SendGBufferTextures(FGBufferRequest& GBuffer) override;
 
 
   void BeginPlay() override;

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

@@ -6,20 +6,11 @@
 
 #include "Carla.h"
 #include "Carla/Sensor/SceneCaptureSensor.h"
-
 #include "Carla/Game/CarlaStatics.h"
 
-#include "Async/Async.h"
+#include <mutex>
-#include "Components/DrawFrustumComponent.h"
+#include <atomic>
-#include "Components/SceneCaptureComponent2D.h"
+#include <thread>
-#include "Components/StaticMeshComponent.h"
-#include "ContentStreaming.h"
-#include "Engine/Classes/Engine/Scene.h"
-#include "Engine/TextureRenderTarget2D.h"
-#include "HAL/UnrealMemory.h"
-#include "HighResScreenshot.h"
-#include "Misc/CoreDelegates.h"
-#include "RHICommandList.h"
 
 static auto SCENE_CAPTURE_COUNTER = 0u;
 
@@ -62,11 +53,12 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer &ObjectInitial
   CaptureRenderTarget->AddressX = TextureAddress::TA_Clamp;
   CaptureRenderTarget->AddressY = TextureAddress::TA_Clamp;
 
-  CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D>(
+  CaptureComponent2D = CreateDefaultSubobject<USceneCaptureComponent2D_CARLA>(
-      FName(*FString::Printf(TEXT("SceneCaptureComponent2D_%d"), SCENE_CAPTURE_COUNTER)));
+      FName(*FString::Printf(TEXT("USceneCaptureComponent2D_CARLA_%d"), SCENE_CAPTURE_COUNTER)));
+  check(CaptureComponent2D != nullptr);
+  CaptureComponent2D->ViewActor = this;
   CaptureComponent2D->SetupAttachment(RootComponent);
   CaptureComponent2D->PrimitiveRenderMode = ESceneCapturePrimitiveRenderMode::PRM_RenderScenePrimitives;
-
   CaptureComponent2D->bCaptureOnMovement = false;
   CaptureComponent2D->bCaptureEveryFrame = false;
   CaptureComponent2D->bAlwaysPersistRenderingState = true;
@@ -456,8 +448,96 @@ float ASceneCaptureSensor::GetChromAberrOffset() const
 
 void ASceneCaptureSensor::EnqueueRenderSceneImmediate() {
   TRACE_CPUPROFILER_EVENT_SCOPE(ASceneCaptureSensor::EnqueueRenderSceneImmediate);
-  // Creates an snapshot of the scene, requieres bCaptureEveryFrame = false.
+  // Equivalent to "CaptureComponent2D->CaptureScene" + (optional) GBuffer extraction.
-  GetCaptureComponent2D()->CaptureScene();
+  CaptureSceneExtended();
+}
+
+constexpr const TCHAR* GBufferNames[] =
+{
+  TEXT("SceneColor"),
+  TEXT("SceneDepth"),
+  TEXT("SceneStencil"),
+  TEXT("GBufferA"),
+  TEXT("GBufferB"),
+  TEXT("GBufferC"),
+  TEXT("GBufferD"),
+  TEXT("GBufferE"),
+  TEXT("GBufferF"),
+  TEXT("Velocity"),
+  TEXT("SSAO"),
+  TEXT("CustomDepth"),
+  TEXT("CustomStencil"),
+};
+
+template <EGBufferTextureID ID, typename T>
+static void CheckGBufferStream(T& GBufferStream, FGBufferRequest& GBuffer)
+{
+  GBufferStream.bIsUsed = GBufferStream.Stream.AreClientsListening();
+  if (GBufferStream.bIsUsed)
+    GBuffer.MarkAsRequested(ID);
+}
+
+static uint64 Prior = 0;
+
+void ASceneCaptureSensor::CaptureSceneExtended()
+{
+  auto GBufferPtr = MakeUnique<FGBufferRequest>();
+  auto& GBuffer = *GBufferPtr;
+
+  CheckGBufferStream<EGBufferTextureID::SceneColor>(CameraGBuffers.SceneColor, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::SceneDepth>(CameraGBuffers.SceneDepth, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::SceneStencil>(CameraGBuffers.SceneStencil, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferA>(CameraGBuffers.GBufferA, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferB>(CameraGBuffers.GBufferB, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferC>(CameraGBuffers.GBufferC, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferD>(CameraGBuffers.GBufferD, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferE>(CameraGBuffers.GBufferE, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::GBufferF>(CameraGBuffers.GBufferF, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::Velocity>(CameraGBuffers.Velocity, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::SSAO>(CameraGBuffers.SSAO, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::CustomDepth>(CameraGBuffers.CustomDepth, GBuffer);
+  CheckGBufferStream<EGBufferTextureID::CustomStencil>(CameraGBuffers.CustomStencil, GBuffer);
+
+  if (GBufferPtr->DesiredTexturesMask == 0)
+  {
+    // Creates an snapshot of the scene, requieres bCaptureEveryFrame = false.
+    CaptureComponent2D->CaptureScene();
+    return;
+  }
+
+  if (Prior != GBufferPtr->DesiredTexturesMask)
+    UE_LOG(LogCarla, Verbose, TEXT("GBuffer selection changed (%llu)."), GBufferPtr->DesiredTexturesMask);
+  
+  Prior = GBufferPtr->DesiredTexturesMask;
+  GBufferPtr->OwningActor = CaptureComponent2D->GetViewOwner();
+
+#define CARLA_GBUFFER_DISABLE_TAA // Temporarily disable TAA to avoid jitter.
+
+#ifdef CARLA_GBUFFER_DISABLE_TAA
+  bool bTAA = CaptureComponent2D->ShowFlags.TemporalAA;
+  if (bTAA) {
+    CaptureComponent2D->ShowFlags.TemporalAA = false;
+  }
+#endif
+
+  CaptureComponent2D->CaptureSceneWithGBuffer(GBuffer);
+
+#ifdef CARLA_GBUFFER_DISABLE_TAA
+  if (bTAA) {
+    CaptureComponent2D->ShowFlags.TemporalAA = true;
+  }
+#undef CARLA_GBUFFER_DISABLE_TAA
+#endif
+
+  AsyncTask(ENamedThreads::AnyHiPriThreadNormalTask, [this, GBuffer = MoveTemp(GBufferPtr)]() mutable
+  {
+    SendGBufferTextures(*GBuffer);
+  });
+}
+
+void ASceneCaptureSensor::SendGBufferTextures(FGBufferRequest& GBuffer)
+{
+  SendGBufferTexturesInternal(*this, GBuffer);
 }
 
 void ASceneCaptureSensor::BeginPlay()

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

@@ -8,15 +8,112 @@
 
 #include "Carla/Sensor/PixelReader.h"
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Sensor/UE4_Overridden/SceneCaptureComponent2D_CARLA.h"
+#include "Carla/Sensor/ImageUtil.h"
+
+#include "Async/Async.h"
+#include "Renderer/Public/GBufferView.h"
+
+#include <type_traits>
 
-#include "Runtime/RenderCore/Public/RenderCommandFence.h"
 #include "SceneCaptureSensor.generated.h"
 
+
+
 class UDrawFrustumComponent;
-class USceneCaptureComponent2D;
 class UStaticMeshComponent;
 class UTextureRenderTarget2D;
 
+
+
+struct FCameraGBufferUint8
+{
+  /// Prevent this sensor to be spawned by users.
+  using not_spawnable = void;
+
+  void SetDataStream(FDataStream InStream)
+  {
+    Stream = std::move(InStream);
+  }
+
+  /// Replace the Stream associated with this sensor.
+  void SetStream(FDataMultiStream InStream)
+  {
+    Stream = std::move(InStream);
+  }
+  /// Return the token that allows subscribing to this sensor's stream.
+  auto GetToken() const
+  {
+    bIsUsed = true;
+    return Stream.GetToken();
+  }
+
+  /// Dummy. Required for compatibility with other sensors only.
+  FTransform GetActorTransform() const
+  {
+    return {};
+  }
+  /// Return the FDataStream associated with this sensor.
+  ///
+  /// You need to provide a reference to self, this is necessary for template
+  /// deduction.
+  template <typename SensorT>
+  FAsyncDataStream GetDataStream(const SensorT &Self)
+  {
+    return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
+  }
+
+  mutable bool bIsUsed = false;
+  FDataStream Stream;
+};
+
+
+
+struct FCameraGBufferFloat
+{
+  /// Prevent this sensor to be spawned by users.
+  using not_spawnable = void;
+
+  void SetDataStream(FDataStream InStream)
+  {
+    Stream = std::move(InStream);
+  }
+
+  /// Replace the Stream associated with this sensor.
+  void SetStream(FDataMultiStream InStream)
+  {
+    Stream = std::move(InStream);
+  }
+  /// Return the token that allows subscribing to this sensor's stream.
+  auto GetToken() const
+  {
+    bIsUsed = true;
+    return Stream.GetToken();
+  }
+  /// Dummy. Required for compatibility with other sensors only.
+  FTransform GetActorTransform() const
+  {
+    return {};
+  }
+  /// Return the FDataStream associated with this sensor.
+  ///
+  /// You need to provide a reference to self, this is necessary for template
+  /// deduction.
+  template <typename SensorT>
+  FAsyncDataStream GetDataStream(const SensorT &Self)
+  {
+    return Stream.MakeAsyncDataStream(Self, Self.GetEpisode().GetElapsedGameTime());
+  }
+  
+  mutable bool bIsUsed = false;
+  FDataStream Stream;
+};
+
+
+
+
+
+
 /// Base class for sensors using a USceneCaptureComponent2D for rendering the
 /// scene. This class does not capture data, use
 /// `FPixelReader::SendPixelsInRenderThread(*this)` in derived classes.
@@ -32,6 +129,7 @@ class CARLA_API ASceneCaptureSensor : public ASensor
 
   friend class ACarlaGameModeBase;
   friend class FPixelReader;
+  friend class FPixelReader2;
 
 public:
 
@@ -304,7 +402,28 @@ public:
     // FlushRenderingCommands();
   }
 
+  struct
+  {
+    FCameraGBufferUint8 SceneColor;
+    FCameraGBufferUint8 SceneDepth;
+    FCameraGBufferUint8 SceneStencil;
+    FCameraGBufferUint8 GBufferA;
+    FCameraGBufferUint8 GBufferB;
+    FCameraGBufferUint8 GBufferC;
+    FCameraGBufferUint8 GBufferD;
+    FCameraGBufferUint8 GBufferE;
+    FCameraGBufferUint8 GBufferF;
+    FCameraGBufferUint8 Velocity;
+    FCameraGBufferUint8 SSAO;
+    FCameraGBufferUint8 CustomDepth;
+    FCameraGBufferUint8 CustomStencil;
+  } CameraGBuffers;
+
 protected:
+    
+  void CaptureSceneExtended();
+
+  virtual void SendGBufferTextures(FGBufferRequest& GBuffer);
 
   virtual void BeginPlay() override;
 
@@ -321,7 +440,7 @@ protected:
 
   /// Scene capture component.
   UPROPERTY(EditAnywhere)
-  USceneCaptureComponent2D *CaptureComponent2D = nullptr;
+  USceneCaptureComponent2D_CARLA *CaptureComponent2D = nullptr;
 
   UPROPERTY(EditAnywhere)
   float TargetGamma = 2.4f;
@@ -342,6 +461,109 @@ protected:
   UPROPERTY(EditAnywhere)
   bool bEnable16BitFormat = false;
 
-  FRenderCommandFence RenderFence;
+private:
+
+  template <
+    typename SensorT,
+    typename CameraGBufferT>
+  static void SendGBuffer(
+      SensorT& Self,
+      CameraGBufferT& CameraGBuffer,
+      FGBufferRequest& GBufferData,
+      EGBufferTextureID TextureID)
+  {
+      using PixelType = typename std::conditional<
+        std::is_same<std::remove_reference_t<CameraGBufferT>, FCameraGBufferUint8>::value,
+        FColor,
+        FLinearColor>::type;
+      FIntPoint ViewSize = {};
+      TArray<PixelType> Pixels;
+      if (GBufferData.WaitForTextureTransfer(TextureID))
+      {
+        TRACE_CPUPROFILER_EVENT_SCOPE_STR("GBuffer Decode");
+        void* PixelData;
+        int32 SourcePitch;
+        FIntPoint SourceExtent;
+        GBufferData.MapTextureData(TextureID, PixelData, SourcePitch, SourceExtent);
+        ViewSize = GBufferData.ViewRect.Size();
+        auto Format = GBufferData.Readbacks[(size_t)TextureID]->GetFormat();
+        Pixels.AddUninitialized(ViewSize.X * ViewSize.Y);
+        FReadSurfaceDataFlags Flags = {};
+        Flags.SetLinearToGamma(true);
+        ImageUtil::DecodePixelsByFormat(PixelData, SourcePitch, SourceExtent, ViewSize, Format, Flags, Pixels);
+        GBufferData.UnmapTextureData(TextureID);
+      }
+      auto GBufferStream = CameraGBuffer.GetDataStream(Self);
+      auto Buffer = GBufferStream.PopBufferFromPool();
+      Buffer.copy_from(carla::sensor::SensorRegistry::get<CameraGBufferT*>::type::header_offset, Pixels);
+      if (Buffer.empty()) {
+        return;
+      }
+      SCOPE_CYCLE_COUNTER(STAT_CarlaSensorStreamSend);
+      TRACE_CPUPROFILER_EVENT_SCOPE_STR("Stream Send");
+      GBufferStream.Send(
+        CameraGBuffer, std::move(Buffer),
+        ViewSize.X, ViewSize.Y,
+        Self.GetFOVAngle());
+  }
+
+protected:
+
+  template <typename T>
+  void SendGBufferTexturesInternal(T& Self, FGBufferRequest& GBufferData)
+  {
+    for (size_t i = 0; i != FGBufferRequest::TextureCount; ++i)
+    {
+      if ((GBufferData.DesiredTexturesMask & (UINT64_C(1) << i)) == 0) {
+        continue;
+      }
+      auto& C = CameraGBuffers;
+      EGBufferTextureID ID = (EGBufferTextureID)i;
+      switch (ID)
+      {
+      case EGBufferTextureID::SceneColor:
+        SendGBuffer(Self, C.SceneColor, GBufferData, ID);
+        break;
+      case EGBufferTextureID::SceneDepth:
+        SendGBuffer(Self, C.SceneDepth, GBufferData, ID);
+        break;
+      case EGBufferTextureID::SceneStencil:
+        SendGBuffer(Self, C.SceneStencil, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferA:
+        SendGBuffer(Self, C.GBufferA, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferB:
+        SendGBuffer(Self, C.GBufferB, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferC:
+        SendGBuffer(Self, C.GBufferC, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferD:
+        SendGBuffer(Self, C.GBufferD, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferE:
+        SendGBuffer(Self, C.GBufferE, GBufferData, ID);
+        break;
+      case EGBufferTextureID::GBufferF:
+        SendGBuffer(Self, C.GBufferF, GBufferData, ID);
+        break;
+      case EGBufferTextureID::Velocity:
+        SendGBuffer(Self, C.Velocity, GBufferData, ID);
+        break;
+      case EGBufferTextureID::SSAO:
+        SendGBuffer(Self, C.SSAO, GBufferData, ID);
+        break;
+      case EGBufferTextureID::CustomDepth:
+        SendGBuffer(Self, C.CustomDepth, GBufferData, ID);
+        break;
+      case EGBufferTextureID::CustomStencil:
+        SendGBuffer(Self, C.CustomStencil, GBufferData, ID);
+        break;
+      default:
+          abort();
+      }
+    }
+  }
 
 };

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

@@ -81,18 +81,18 @@ public:
   UFUNCTION(BlueprintCallable)
   void SetSeed(int32 InSeed);
 
-protected:
-
-  void PostActorCreated() override;
-
-  void EndPlay(EEndPlayReason::Type EndPlayReason) override;
-
   const UCarlaEpisode &GetEpisode() const
   {
     check(Episode != nullptr);
     return *Episode;
   }
 
+protected:
+
+  void PostActorCreated() override;
+
+  void EndPlay(EEndPlayReason::Type EndPlayReason) override;
+
   /// Return the FDataStream associated with this sensor.
   ///
   /// You need to provide a reference to self, this is necessary for template

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

@@ -10,6 +10,7 @@
 #include "Carla/Game/CarlaGameInstance.h"
 #include "Carla/Game/CarlaStatics.h"
 #include "Carla/Sensor/Sensor.h"
+#include "Carla/Sensor/SceneCaptureSensor.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <carla/sensor/SensorRegistry.h>
@@ -137,6 +138,23 @@ FActorSpawnResult ASensorFactory::SpawnActor(
     Sensor->SetEpisode(*Episode);
     Sensor->Set(Description);
     Sensor->SetDataStream(GameInstance->GetServer().OpenStream());
+    ASceneCaptureSensor * SceneCaptureSensor = Cast<ASceneCaptureSensor>(Sensor);
+    if(SceneCaptureSensor)
+    {
+      SceneCaptureSensor->CameraGBuffers.SceneColor.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.SceneDepth.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.SceneStencil.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferA.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferB.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferC.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferD.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferE.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.GBufferF.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.Velocity.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.SSAO.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.CustomDepth.SetDataStream(GameInstance->GetServer().OpenStream());
+      SceneCaptureSensor->CameraGBuffers.CustomStencil.SetDataStream(GameInstance->GetServer().OpenStream());
+    }
   }
   UGameplayStatics::FinishSpawningActor(Sensor, Transform);
   return FActorSpawnResult{Sensor};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponent2D_CARLA.cpp

@@ -0,0 +1,19 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "SceneCaptureComponent2D_CARLA.h"
+
+
+
+USceneCaptureComponent2D_CARLA::USceneCaptureComponent2D_CARLA(const FObjectInitializer& ObjectInitializer) :
+    Super(ObjectInitializer)
+{
+}
+
+const AActor* USceneCaptureComponent2D_CARLA::GetViewOwner() const
+{
+  return ViewActor;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponent2D_CARLA.h

@@ -0,0 +1,26 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "CoreMinimal.h"
+#include "Components/SceneCaptureComponent2D.h"
+
+#include "SceneCaptureComponent2D_CARLA.generated.h"
+
+
+
+UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
+class CARLA_API USceneCaptureComponent2D_CARLA : public USceneCaptureComponent2D
+{
+	GENERATED_BODY()
+public:
+
+  USceneCaptureComponent2D_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
+
+  const AActor* ViewActor;
+
+	virtual const AActor* GetViewOwner() const override;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponentCube_CARLA.cpp

@@ -0,0 +1,19 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "SceneCaptureComponentCube_CARLA.h"
+
+
+
+USceneCaptureComponentCube_CARLA::USceneCaptureComponentCube_CARLA(const FObjectInitializer& ObjectInitializer) :
+    Super(ObjectInitializer)
+{
+}
+
+const AActor* USceneCaptureComponentCube_CARLA::GetViewOwner() const
+{
+  return ViewActor;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponentCube_CARLA.h

@@ -0,0 +1,26 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "CoreMinimal.h"
+#include "Components/SceneCaptureComponentCube.h"
+
+#include "SceneCaptureComponentCube_CARLA.generated.h"
+
+
+
+UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
+class CARLA_API USceneCaptureComponentCube_CARLA : public USceneCaptureComponentCube
+{
+	GENERATED_BODY()
+public:
+
+  USceneCaptureComponentCube_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
+
+  const AActor* ViewActor;
+
+	virtual const AActor* GetViewOwner() const override;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponent_CARLA.cpp

@@ -0,0 +1,19 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "SceneCaptureComponent_CARLA.h"
+
+
+
+USceneCaptureComponent_CARLA::USceneCaptureComponent_CARLA(const FObjectInitializer& ObjectInitializer) :
+    Super(ObjectInitializer)
+{
+}
+
+const AActor* USceneCaptureComponent_CARLA::GetViewOwner() const
+{
+  return ViewActor;
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/UE4_Overridden/SceneCaptureComponent_CARLA.h

@@ -0,0 +1,26 @@
+// 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.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "CoreMinimal.h"
+#include "Components/SceneCaptureComponent.h"
+
+#include "SceneCaptureComponent_CARLA.generated.h"
+
+
+
+UCLASS(hidecategories=(Collision, Object, Physics, SceneComponent, Mobility))
+class CARLA_API USceneCaptureComponent_CARLA : public USceneCaptureComponent
+{
+	GENERATED_BODY()
+public:
+
+  USceneCaptureComponent_CARLA(const FObjectInitializer& = FObjectInitializer::Get());
+
+  const AActor* ViewActor;
+
+	virtual const AActor* GetViewOwner() const override;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -2001,7 +2001,7 @@ void FCarlaServer::FPimpl::BindActions()
   {
     REQUIRE_CARLA_EPISODE();
     FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
-    if (CarlaActor)
+    if (!CarlaActor)
     {
       return RespondError(
           "get_light_boxes",
@@ -2034,6 +2034,107 @@ void FCarlaServer::FPimpl::BindActions()
     }
   };
 
+  // ~~ GBuffer tokens ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+  BIND_SYNC(get_gbuffer_token) << [this](const cr::ActorId ActorId, uint32_t GBufferId) -> R<std::vector<unsigned char>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if(!CarlaActor)
+    {
+      return RespondError(
+          "get_gbuffer_token",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    if (CarlaActor->IsDormant())
+    {
+      return RespondError(
+          "get_gbuffer_token",
+          ECarlaServerResponse::FunctionNotAvailiableWhenDormant,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    ASceneCaptureSensor* Sensor = Cast<ASceneCaptureSensor>(CarlaActor->GetActor());
+    if (!Sensor)
+    {
+      return RespondError(
+        "get_gbuffer_token",
+        ECarlaServerResponse::ActorTypeMismatch,
+        " Actor Id: " + FString::FromInt(ActorId));
+    }
+
+    switch (GBufferId)
+    {
+      case 0:
+      {
+        const auto &Token = Sensor->CameraGBuffers.SceneColor.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 1:
+      {
+        const auto &Token = Sensor->CameraGBuffers.SceneDepth.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 2:
+      {
+          const auto& Token = Sensor->CameraGBuffers.SceneStencil.GetToken();
+          return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 3:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferA.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 4:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferB.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 5:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferC.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 6:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferD.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 7:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferE.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 8:
+      {
+        const auto &Token = Sensor->CameraGBuffers.GBufferF.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 9:
+      {
+        const auto &Token = Sensor->CameraGBuffers.Velocity.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 10:
+      {
+        const auto &Token = Sensor->CameraGBuffers.SSAO.GetToken();
+        return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 11:
+      {
+          const auto& Token = Sensor->CameraGBuffers.CustomDepth.GetToken();
+          return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      case 12:
+      {
+          const auto& Token = Sensor->CameraGBuffers.CustomStencil.GetToken();
+          return std::vector<unsigned char>(std::begin(Token.data), std::end(Token.data));
+      }
+      default:
+        UE_LOG(LogCarla, Error, TEXT("Requested invalid GBuffer ID %u"), GBufferId);
+        return {};
+    }
+  };
+
   // ~~ Logging and playback ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   BIND_SYNC(start_recorder) << [this](std::string name, bool AdditionalData) -> R<std::string>

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.cpp

@@ -10,6 +10,7 @@
 #include "YieldSignComponent.h"
 #include "SpeedLimitComponent.h"
 #include "Components/BoxComponent.h"
+#include "Runtime/CoreUObject/Public/UObject/ConstructorHelpers.h"
 
 #include "UObject/ConstructorHelpers.h"
 

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Traffic/TrafficLightManager.h

@@ -10,6 +10,7 @@
 #include "TrafficLightGroup.h"
 #include "TrafficSignBase.h"
 #include "Carla/OpenDrive/OpenDrive.h"
+
 #include "TrafficLightManager.generated.h"
 
 /// Class In charge of creating and assigning traffic