Automatize tagging for semantic segmentation

Source/Carla/Game/CarlaGameMode.cpp

@@ -13,6 +13,7 @@
 #include "CarlaPlayerState.h"
 #include "CarlaSettings.h"
 #include "CarlaVehicleController.h"
+#include "Tagger.h"
 
 ACarlaGameMode::ACarlaGameMode() :
   Super(),
@@ -69,6 +70,7 @@ void ACarlaGameMode::RestartPlayer(AController* NewPlayer)
 void ACarlaGameMode::BeginPlay()
 {
   Super::BeginPlay();
+  TagObjectsForSemanticSegmentation();
   GameController->BeginPlay();
 }
 
@@ -100,6 +102,13 @@ void ACarlaGameMode::AttachCaptureCamerasToPlayer(AController &Player)
   }
 }
 
+void ACarlaGameMode::TagObjectsForSemanticSegmentation()
+{
+  auto Tagger = GetWorld()->SpawnActor<ATagger>();
+  Tagger->TagObjects();
+  Tagger->Destroy(); // We don't need you anymore.
+}
+
 APlayerStart *ACarlaGameMode::FindUnOccupiedStartPoints(
     AController *Player,
     TArray<APlayerStart *> &UnOccupiedStartPoints)

Source/Carla/Game/CarlaGameMode.h

@@ -35,6 +35,8 @@ private:
 
   void AttachCaptureCamerasToPlayer(AController &Player);
 
+  void TagObjectsForSemanticSegmentation();
+
   /// Iterate all the APlayerStart present in the world and add the ones with
   /// unoccupied locations to @a UnOccupiedStartPoints.
   ///

Source/Carla/Tagger.h

@@ -14,6 +14,8 @@ public:
 
   ATagger();
 
+  void TagObjects();
+
 protected:
 
 #if WITH_EDITOR
@@ -22,8 +24,6 @@ protected:
 
 private:
 
-  void TagObjects();
-
   UPROPERTY(Category = "Tagger", EditAnywhere)
   bool bTriggerTagObjects = false;
 };