text: // 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("semantic_segmentation"));
  }
  
  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);
  }
  