System for setting sensor attributes

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

@@ -7,6 +7,7 @@
 #include "Carla.h"
 #include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
 
+#include "Carla/Sensor/SceneCaptureSensor.h"
 #include "Carla/Util/ScopedStack.h"
 
 #include <algorithm>
@@ -186,17 +187,19 @@ bool UActorBlueprintFunctionLibrary::CheckActorDefinitions(const TArray<FActorDe
 /// ============================================================================
 
 FActorDefinition UActorBlueprintFunctionLibrary::MakeCameraDefinition(
-    const FString &Id)
+    const FString &Id,
+    const bool bEnableModifyingPostProcessEffects)
 {
   FActorDefinition Definition;
   bool Success;
-  MakeCameraDefinition(Id, Success, Definition);
+  MakeCameraDefinition(Id, bEnableModifyingPostProcessEffects, Success, Definition);
   check(Success);
   return Definition;
 }
 
 void UActorBlueprintFunctionLibrary::MakeCameraDefinition(
     const FString &Id,
+    const bool bEnableModifyingPostProcessEffects,
     bool &Success,
     FActorDefinition &Definition)
 {
@@ -221,6 +224,17 @@ void UActorBlueprintFunctionLibrary::MakeCameraDefinition(
   ResY.bRestrictToRecommended = false;
 
   Definition.Variations = {ResX, ResY, FOV};
+
+  if (bEnableModifyingPostProcessEffects)
+  {
+    FActorVariation PostProccess;
+    PostProccess.Id = TEXT("enable_postprocess_effects");
+    PostProccess.Type = EActorAttributeType::Bool;
+    PostProccess.RecommendedValues = { TEXT("true") };
+    PostProccess.bRestrictToRecommended = false;
+    Definition.Variations.Add(PostProccess);
+  }
+
   Success = CheckActorDefinition(Definition);
 }
 
@@ -410,3 +424,42 @@ FColor UActorBlueprintFunctionLibrary::RetrieveActorAttributeToColor(
       ActorAttributeToColor(Attributes[Id], Default) :
       Default;
 }
+
+/// ============================================================================
+/// -- Helpers to set Actors ---------------------------------------------------
+/// ============================================================================
+
+// Here we do different checks when we are in editor, because we don't want the
+// editor crashing while people is testing new actor definitions.
+#if WITH_EDITOR
+#  define CARLA_ABFL_CHECK_ACTOR(ActorPtr) \
+        if ((ActorPtr == nullptr) || ActorPtr->IsPendingKill()) \
+        { \
+          UE_LOG(LogCarla, Error, TEXT("Cannot set empty actor!")); \
+          return; \
+        }
+#else
+#  define CARLA_ABFL_CHECK_ACTOR(ActorPtr) \
+        check((ActorPtr != nullptr) && !ActorPtr->IsPendingKill());
+#endif // WITH_EDITOR
+
+void UActorBlueprintFunctionLibrary::SetActor(
+    const FActorDescription &Description,
+    ASceneCaptureSensor *Camera)
+{
+  CARLA_ABFL_CHECK_ACTOR(Camera);
+  Camera->SetImageSize(
+      RetrieveActorAttributeToInt("image_size_x", Description.Variations, 800),
+      RetrieveActorAttributeToInt("image_size_y", Description.Variations, 600));
+  Camera->SetFOVAngle(
+      RetrieveActorAttributeToFloat("fov", Description.Variations, 90.0f));
+  if (Description.Variations.Contains("enable_postprocess_effects"))
+  {
+    Camera->EnablePostProcessingEffects(
+        ActorAttributeToBool(
+            Description.Variations["enable_postprocess_effects"],
+            true));
+  }
+}
+
+#undef CARLA_ABFL_CHECK_ACTOR

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

@@ -7,12 +7,15 @@
 #pragma once
 
 #include "Carla/Actor/ActorDefinition.h"
+#include "Carla/Actor/ActorDescription.h"
 #include "Carla/Vehicle/CarlaWheeledVehicle.h"
 
 #include "Kismet/BlueprintFunctionLibrary.h"
 
 #include "ActorBlueprintFunctionLibrary.generated.h"
 
+class ASceneCaptureSensor;
+
 USTRUCT(BlueprintType)
 struct CARLA_API FVehicleParameters
 {
@@ -61,11 +64,14 @@ public:
   /// ==========================================================================
   /// @{
 
-  static FActorDefinition MakeCameraDefinition(const FString &Id);
+  static FActorDefinition MakeCameraDefinition(
+      const FString &Id,
+      bool bEnableModifyingPostProcessEffects = false);
 
   UFUNCTION(Category = "Carla Actor", BlueprintCallable)
   static void MakeCameraDefinition(
       const FString &Id,
+      bool bEnableModifyingPostProcessEffects,
       bool &Success,
       FActorDefinition &Definition);
 
@@ -131,6 +137,15 @@ public:
       const TMap<FString, FActorAttribute> &Attributes,
       const FColor &Default);
 
+  /// @}
+  /// ==========================================================================
+  /// @name Helpers to set Actors
+  /// ==========================================================================
+  /// @{
+
+  UFUNCTION(Category = "Carla Actor", BlueprintCallable)
+  static void SetActor(const FActorDescription &Description, ASceneCaptureSensor *Camera);
+
   /// @}
 };
 

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

@@ -0,0 +1,33 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Sensor/DepthCamera.h"
+
+#include "Carla/Sensor/PixelReader.h"
+
+FActorDefinition ADepthCamera::GetSensorDefinition()
+{
+  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("depth_camera"));
+}
+
+ADepthCamera::ADepthCamera(const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  LoadPostProcessingMaterial(
+#if PLATFORM_LINUX
+      TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'")
+#else
+      TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial'")
+#endif
+  );
+}
+
+void ADepthCamera::Tick(float DeltaTime)
+{
+  Super::Tick(DeltaTime);
+  FPixelReader::SendPixelsInRenderThread(*this);
+}

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

@@ -6,7 +6,6 @@
 
 #pragma once
 
-#include "Carla/Sensor/PixelReader.h"
 #include "Carla/Sensor/ShaderBasedSensor.h"
 
 #include "DepthCamera.generated.h"
@@ -18,28 +17,11 @@ class CARLA_API ADepthCamera : public AShaderBasedSensor
 
 public:
 
-  static FActorDefinition GetSensorDefinition()
-  {
-    return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("depth_camera"));
-  }
+  static FActorDefinition GetSensorDefinition();
 
-  ADepthCamera(const FObjectInitializer &ObjectInitializer)
-    : Super(ObjectInitializer)
-  {
-    LoadPostProcessingMaterial(
-#if PLATFORM_LINUX
-        TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial_GLSL.DepthEffectMaterial_GLSL'")
-#else
-        TEXT("Material'/Carla/PostProcessingMaterials/DepthEffectMaterial.DepthEffectMaterial'")
-#endif
-    );
-  }
+  ADepthCamera(const FObjectInitializer &ObjectInitializer);
 
 protected:
 
-  void Tick(float DeltaTime) override
-  {
-    Super::Tick(DeltaTime);
-    FPixelReader::SendPixelsInRenderThread(*this);
-  }
+  void Tick(float DeltaTime) override;
 };

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

@@ -25,7 +25,7 @@ ARayTraceLidar::ARayTraceLidar(const FObjectInitializer& ObjectInitializer)
   RootComponent = MeshComp;
 }
 
-void ARayTraceLidar::Set(const FLidarDescription &LidarDescription)
+void ARayTraceLidar::SetLidar(const FLidarDescription &LidarDescription)
 {
   Description = LidarDescription;
   LidarMeasurement = FLidarMeasurement(Description.Channels);

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

@@ -23,7 +23,7 @@ public:
 
   ARayTraceLidar(const FObjectInitializer &ObjectInitializer);
 
-  void Set(const FLidarDescription &LidarDescription);
+  void SetLidar(const FLidarDescription &LidarDescription);
 
 protected:
 

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

@@ -0,0 +1,22 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Sensor/SceneCaptureCamera.h"
+
+FActorDefinition ASceneCaptureCamera::GetSensorDefinition()
+{
+  constexpr bool bEnableModifyingPostProcessEffects = true;
+  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(
+      TEXT("camera"),
+      bEnableModifyingPostProcessEffects);
+}
+
+void ASceneCaptureCamera::Tick(float DeltaTime)
+{
+  Super::Tick(DeltaTime);
+  FPixelReader::SendPixelsInRenderThread(*this);
+}

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

@@ -18,18 +18,9 @@ class CARLA_API ASceneCaptureCamera : public ASceneCaptureSensor
 
 public:
 
-  static FActorDefinition GetSensorDefinition()
-  {
-    return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("camera"));
-  }
-
-  using ASceneCaptureSensor::EnablePostProcessingEffects;
+  static FActorDefinition GetSensorDefinition();
 
 protected:
 
-  void Tick(float DeltaTime) override
-  {
-    Super::Tick(DeltaTime);
-    FPixelReader::SendPixelsInRenderThread(*this);
-  }
+  void Tick(float DeltaTime) override;
 };

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

@@ -75,6 +75,12 @@ ASceneCaptureSensor::ASceneCaptureSensor(const FObjectInitializer& ObjectInitial
   ++SCENE_CAPTURE_COUNTER;
 }
 
+void ASceneCaptureSensor::Set(const FActorDescription &Description)
+{
+  Super::Set(Description);
+  UActorBlueprintFunctionLibrary::SetActor(Description, this);
+}
+
 void ASceneCaptureSensor::SetImageSize(uint32 InWidth, uint32 InHeight)
 {
   ImageWidth = InWidth;

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

@@ -34,6 +34,8 @@ public:
 
   ASceneCaptureSensor(const FObjectInitializer &ObjectInitializer);
 
+  void Set(const FActorDescription &ActorDescription) override;
+
   void SetImageSize(uint32 Width, uint32 Height);
 
   uint32 GetImageWidth() const

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

@@ -0,0 +1,29 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "Carla.h"
+#include "Carla/Sensor/SemanticSegmentationCamera.h"
+
+#include "Carla/Sensor/PixelReader.h"
+
+FActorDefinition ASemanticSegmentationCamera::GetSensorDefinition()
+{
+  return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("semseg_camera"));
+}
+
+ASemanticSegmentationCamera::ASemanticSegmentationCamera(
+    const FObjectInitializer &ObjectInitializer)
+  : Super(ObjectInitializer)
+{
+  LoadPostProcessingMaterial(
+      TEXT("Material'/Carla/PostProcessingMaterials/GTMaterial.GTMaterial'"));
+}
+
+void ASemanticSegmentationCamera::Tick(float DeltaTime)
+{
+  Super::Tick(DeltaTime);
+  FPixelReader::SendPixelsInRenderThread(*this);
+}

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

@@ -6,7 +6,6 @@
 
 #pragma once
 
-#include "Carla/Sensor/PixelReader.h"
 #include "Carla/Sensor/ShaderBasedSensor.h"
 
 #include "SemanticSegmentationCamera.generated.h"
@@ -18,22 +17,11 @@ class CARLA_API ASemanticSegmentationCamera : public AShaderBasedSensor
 
 public:
 
-  static FActorDefinition GetSensorDefinition()
-  {
-    return UActorBlueprintFunctionLibrary::MakeCameraDefinition(TEXT("semseg_camera"));
-  }
+  static FActorDefinition GetSensorDefinition();
 
-  ASemanticSegmentationCamera(const FObjectInitializer &ObjectInitializer)
-    : Super(ObjectInitializer)
-  {
-    LoadPostProcessingMaterial(TEXT("Material'/Carla/PostProcessingMaterials/GTMaterial.GTMaterial'"));
-  }
+  ASemanticSegmentationCamera(const FObjectInitializer &ObjectInitializer);
 
 protected:
 
-  void Tick(float DeltaTime) override
-  {
-    Super::Tick(DeltaTime);
-    FPixelReader::SendPixelsInRenderThread(*this);
-  }
+  void Tick(float DeltaTime) override;
 };

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

@@ -20,6 +20,8 @@ class CARLA_API ASensor : public AActor
 
 public:
 
+  virtual void Set(const FActorDescription &) {}
+
   /// @warning Do not change the stream after BeginPlay. It is not thread-safe.
   void SetDataStream(FDataStream InStream)
   {

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

@@ -7,8 +7,7 @@
 #include "Carla.h"
 #include "Carla/Sensor/SensorFactory.h"
 
-#include "Carla/Actor/ActorBlueprintFunctionLibrary.h"
-#include "Carla/Sensor/SceneCaptureCamera.h"
+#include "Carla/Sensor/Sensor.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <carla/sensor/SensorRegistry.h>
@@ -59,27 +58,25 @@ FActorSpawnResult ASensorFactory::SpawnActor(
     const FTransform &Transform,
     const FActorDescription &Description)
 {
-  FActorSpawnParameters Params;
   auto *World = GetWorld();
   if (World == nullptr)
   {
+    UE_LOG(LogCarla, Error, TEXT("ASensorFactory: cannot spawn sensor into empty world."));
     return {};
   }
-  /// @todo Here we may spawn something else than a scene capture.
-  auto *Sensor = World->SpawnActorDeferred<ASceneCaptureSensor>(
+  auto *Sensor = World->SpawnActorDeferred<ASensor>(
       Description.Class,
       Transform,
       this,
       nullptr,
       ESpawnActorCollisionHandlingMethod::AlwaysSpawn);
-  if (Sensor != nullptr)
+  if (Sensor == nullptr)
   {
-    using ABFL = UActorBlueprintFunctionLibrary;
-    Sensor->SetImageSize(
-        ABFL::RetrieveActorAttributeToInt("image_size_x", Description.Variations, 800),
-        ABFL::RetrieveActorAttributeToInt("image_size_y", Description.Variations, 600));
-    Sensor->SetFOVAngle(
-        ABFL::RetrieveActorAttributeToFloat("fov", Description.Variations, 90.0f));
+    UE_LOG(LogCarla, Error, TEXT("ASensorFactory: spawn sensor failed."));
+  }
+  else
+  {
+    Sensor->Set(Description);
   }
   UGameplayStatics::FinishSpawningActor(Sensor, Transform);
   return FActorSpawnResult{Sensor};

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

@@ -11,7 +11,8 @@
 
 #include "SensorFactory.generated.h"
 
-/// Object in charge of spawning sensors.
+/// Object in charge of spawning sensors. Automatically looks for all the
+/// sensors registered in carla::sensor::SensorRegistry.
 UCLASS()
 class CARLA_API ASensorFactory : public ACarlaActorFactory
 {