Apply postprocesssetting to caputrecomp (#231) (#233)

* add ROS2CameraType and support Depth type Co-authored-by: yuokamoto <[email protected]>
rapyuta-robotics · Nov 17, 2023 · a67c5cf · a67c5cf
1 parent b00c293
commit a67c5cf
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diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
@@ -2,6 +2,8 @@
 
 #include "Sensors/RRROS2CameraComponent.h"
 
+#include "BufferVisualizationData.h"
+
 URRROS2CameraComponent::URRROS2CameraComponent()
 {
     // component initialization
@@ -20,6 +22,14 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
     SceneCaptureComponent->FOVAngle = CameraComponent->FieldOfView;
     SceneCaptureComponent->OrthoWidth = CameraComponent->OrthoWidth;
 
+    if (CameraType == EROS2CameraType::DEPTH)
+    {
+        FWeightedBlendable blendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth")));
+        CameraComponent->PostProcessSettings.WeightedBlendables.Array.Add(blendable);
+        SceneCaptureComponent->PostProcessSettings = CameraComponent->PostProcessSettings;
+        SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorHDR;
+    }
+
     RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
     RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);
     SceneCaptureComponent->TextureTarget = RenderTarget;

diff --git a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
@@ -32,6 +32,13 @@ struct FRenderRequest
     FRenderCommandFence RenderFence;
 };
 
+UENUM(BlueprintType)
+enum class EROS2CameraType : uint8
+{
+    RGB UMETA(DisplayName = "RGB"),
+    DEPTH UMETA(DisplayName = "Depth")
+};
+
 /**
  * @brief ROS 2 Camera component. Uses USceneCaptureComponent2D.
  *
@@ -103,6 +110,9 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     int32 QueueSize = 2;
 
+    UPROPERTY(EditAnywhere, BlueprintReadWrite)
+    EROS2CameraType CameraType = EROS2CameraType::RGB;
+
     // ROS
     /**
      * @brief Update ROS 2 Msg structure from #RenderRequestQueue