InstanceSegmentationCamera.cpp

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// Copyright (c) 2025 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#include "InstanceSegmentationCamera.h"
#include "Agrarsense/Logging/SimulatorLog.h"
 
#include "Engine.h"
#include "Engine/World.h"
 
static int32 InstanceSegmentationCameraCount = 0;
 
AInstanceSegmentationCamera::AInstanceSegmentationCamera(const FObjectInitializer& ObjectInitializer) : Super(ObjectInitializer)
{
    // Use USceneCaptureComponent2D ReadPixels method to get pixels instead of FrameGrabber API.
    // Otherwise ID's of instance segmentation are not correct
    // due to sRGB conversion done by FrameGrabber.
    UseParallelLateTick = false;
    UseReadPixels = true;
    PrimaryActorTick.bCanEverTick = false;
}
 
void AInstanceSegmentationCamera::Init(FCameraBaseParameters parameters, bool SimulateSensor)
{
    // Defined in Camera.h
    CameraName = "InstanceSegmentationCamera ";
    FilePrefix = "Data/InstanceSegmentationCamera_";
 
    AddPostProcessingMaterial("/Game/Agrarsense/Materials/PostProcessingMaterials/M_InstanceSegmentation.M_InstanceSegmentation");
    Super::Init(parameters, SimulateSensor);
 
    SetShadowRendering(false);
    DisableShowFlags();
    SetTemporalAA(false);
 
#ifdef InstanceSegmentationPass_EXISTS
    // If user is using AGRARSENSE Unreal Engine fork, we can utilize this sensor
    UWorld* World = GetWorld();
    if (GEngine && World)
    {
        GEngine->Exec(World, TEXT("r.EnableSegmentationRendering 1"));
    }
    ++InstanceSegmentationCameraCount;
#else
    // else log and destroy this Actor as the user cannot use this sensor anyway.
    SimulatorLog::Log("InstanceSegmentationCamera.cpp: This sensor is only supported with our AGRARSENSE fork of the engine.");
    Destroy();
#endif
}
 
void AInstanceSegmentationCamera::EndPlay(const EEndPlayReason::Type EndPlayReason)
{
    Super::EndPlay(EndPlayReason);
 
#ifdef InstanceSegmentationPass_EXISTS
    --InstanceSegmentationCameraCount;
    if (InstanceSegmentationCameraCount == 0) 
    {
        UWorld* World = GetWorld();
        if (GEngine && World)
        {
            GEngine->Exec(World, TEXT("r.EnableSegmentationRendering 0"));
        }
    }
#endif
}