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added 5.7 compatibility for depthlidar #149

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Merged
jonyMarino merged 1 commit into from
May 12, 2026
Merged

added 5.7 compatibility for depthlidar #149

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14 changes: 13 additions & 1 deletion unreal/Blocks/Plugins/ProjectAirSim/Source/ProjectAirSim/Private/Sensors/DepthLidar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,12 +228,24 @@ void UDepthLidar::SetupDepthCapture() {
}

if (UnrealWorld) {
#if UE_IS_5_2
// UE < 5.6: individual LineBatcher pointers on UWorld
DepthCaptureComponent->HideComponent(
Cast<UPrimitiveComponent>(UnrealWorld->LineBatcher));
DepthCaptureComponent->HideComponent(
Cast<UPrimitiveComponent>(UnrealWorld->PersistentLineBatcher));
DepthCaptureComponent->HideComponent(
Cast<UPrimitiveComponent>(UnrealWorld->ForegroundLineBatcher));
#elif UE_IS_5_7
// UE 5.6+: LineBatcher/PersistentLineBatcher/ForegroundLineBatcher were
// replaced by GetLineBatcher(ELineBatcherType)
DepthCaptureComponent->HideComponent(
UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::World));
DepthCaptureComponent->HideComponent(
UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::WorldPersistent));
DepthCaptureComponent->HideComponent(
UnrealWorld->GetLineBatcher(UWorld::ELineBatcherType::Foreground));
#endif
}

DepthCaptureComponent->RegisterComponent();
Expand Down Expand Up @@ -322,7 +334,7 @@ void UDepthLidar::ReadDepthPixels(TArray<FFloat16Color>& OutDepthPixels) const {
return;
}

FRHITexture2D* Texture2D = TextureRef->GetTexture2D();
FRHITexture* Texture2D = TextureRef->GetTexture2D();
if (!Texture2D) {
return;
}
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