Lens distortion shader

[marcgpuig]

Description

Now all the camera-based sensors are provided with and additional lens distortion shader.
You can see the effect of just increasing the lens_circle_multiplier value to 1.0 - 2.0 or so.

camera_bp.set_attribute('lens_circle_falloff', str(5.0))
camera_bp.set_attribute('lens_circle_multiplier', str(0.0))
camera_bp.set_attribute('lens_k', str(-1.0))
camera_bp.set_attribute('lens_kcube', str(0.0))
camera_bp.set_attribute('lens_x_size', str(0.08))
camera_bp.set_attribute('lens_y_size', str(0.08))

Also, exposed chromatic aberration for sensor.camera.rgb:

rgb_camera_bp.set_attribute('chromatic_aberration_intensity', str(0.5)) # 0.0 by default
rgb_camera_bp.set_attribute('chromatic_aberration_offset', str(0.0))

Changed manual_control.py so you can visualize a lens distortion example pressing 8.

Where has this been tested?

• Platform(s): Ubuntu 18.04
• Python version(s): 2 & 3
• Unreal Engine version(s): 4.22

Possible Drawbacks

Slightly more GPU consumption since this shader is applied now by default.

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This change is 

[update-docs]

Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes.

[jackbart94]

Reviewed 14 of 15 files at r1, 2 of 3 files at r3.
Reviewable status: all files reviewed, 5 unresolved discussions (waiting on @bernatx and @marcgpuig)

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Docs/bp_library.md, line 13 at r3 (raw file):

       print('  - {}'.format(attr))

Trailing white spaces. Actually, a lot of white spaces are present at the end of some sentences, are they supposed to be there?

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Docs/bp_library.md, line 101 at r3 (raw file):

        - `upper_fov` (_Float_)<sub>_ – Modifiable_</sub>
- **<font color="#498efc">sensor.other.collision</font>**  
    - **Attributes:**

This and the next two sensors used to have "role_name" as an attribute. Now it's empty, but the others have kept the "role_name" attribute. Is it normal?

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Docs/cameras_and_sensors.md, line 121 at r1 (raw file):

| `black_clip` | float | 0.0 | This will set where the crossover happens where black's start to cut off their value. In general, this value should NOT be adjusted. Range: [0.0, 1.0] |
| `white_clip` | float | 0.04 | This will set where the crossover happens where white's start to cut off their values. This will appear as a subtle change in most cases. Range: [0.0, 1.0] |

For the first sentence in both lines, grammar seems wrong. Maybe "This will set where the crossover happens when black/white tones start to cut off their value"

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Docs/cameras_and_sensors.md, line 122 at r1 (raw file):

 When the light temperature and this one match, the light will appear white

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Docs/cameras_and_sensors.md, line 126 at r3 (raw file):

Whether the post-process effect in the scene affect the image 

affects

[marcgpuig]

Reviewable status: 15 of 16 files reviewed, 5 unresolved discussions (waiting on @bernatx, @jackbart94, and @marcgpuig)

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Docs/bp_library.md, line 13 at r3 (raw file):

Previously, jackbart94 (Jacopo Bartiromo) wrote…

Trailing white spaces. Actually, a lot of white spaces are present at the end of some sentences, are they supposed to be there?

Yes! is a markdown feature to jump to the next line :)

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Docs/cameras_and_sensors.md, line 122 at r1 (raw file):

Previously, jackbart94 (Jacopo Bartiromo) wrote…

 When the light temperature and this one match, the light will appear white

Done.

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Docs/cameras_and_sensors.md, line 126 at r3 (raw file):

Previously, jackbart94 (Jacopo Bartiromo) wrote…

Whether the post-process effect in the scene affect the image 

affects

Done.

[jackbart94]

Reviewed 1 of 1 files at r4.
Reviewable status: complete! all files reviewed, all discussions resolved (waiting on @bernatx)

[bernatx]

Reviewable status: all files reviewed, 1 unresolved discussion (waiting on @marcgpuig)

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Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h, line 9 at r4 (raw file):

#pragma once

#include "Carla/Sensor/ShaderBasedSensor.h"

We could sort this include moving it down a bit :)

[marcgpuig]

Reviewable status: 15 of 16 files reviewed, 1 unresolved discussion (waiting on @bernatx and @jackbart94)

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Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/SceneCaptureCamera.h, line 9 at r4 (raw file):

Previously, bernatx (bernat) wrote…

We could sort this include moving it down a bit :)

Not only that but sorted alphabetically!

[jackbart94]

Reviewed 1 of 1 files at r5.
Reviewable status: complete! all files reviewed, all discussions resolved

[jackbart94]

Reviewed 1 of 1 files at r7.
Reviewable status: complete! all files reviewed, all discussions resolved

[jackbart94]

Reviewed 1 of 1 files at r8.
Reviewable status: complete! all files reviewed, all discussions resolved

[bernatx]

Reviewable status: complete! all files reviewed, all discussions resolved

[Solonets]

@marcgpuig what is the configuration for undistorted images (pinhole projection)?

[syoels]

@marcgpuig what is the configuration for undistorted images (pinhole projection)?

@marcgpuig Joining Sergei on this one. Now that you've exposed these, I'd expect the default values in the docs to represent a pinhole model. Is that the case?

[marcgpuig]

@Solonets the values in the description of this PR.
@syoels Yes!