Description

class for managing sensors. This is the Sensor system class.

#include <ChSensorManager.h>

Public Member Functions
	ChSensorManager (ChSystem *chrono_system)
	Class constructor. More...

	~ChSensorManager ()
	Class destructor.

void	Update ()
	Update function that will prompt the manager to update its sensors if they need to be updated according to the current time of the chrono simulation.

void	AddSensor (std::shared_ptr< ChSensor > sensor)
	Add a sensor to the manager. More...

std::vector< std::shared_ptr< ChSensor > >	GetSensorList ()
	Get the list of sensors for which this manager is responsible. More...

void	SetDeviceList (std::vector< unsigned int > device_ids)
	Set the list of devices (GPUs) that should be used for rendering. More...

std::vector< unsigned int >	GetDeviceList ()
	Get the list of devices that are intended for use. More...

int	GetNumEngines ()
	Get the number of engines the manager is currently using. More...

std::shared_ptr< ChOptixEngine >	GetEngine (int context_id)
	Get a pointer to the engine based on the id of the engine. More...

void	AddInstancedStaticSceneMeshes (std::vector< ChFrame<>> &frames, std::shared_ptr< ChTriangleMeshShape > mesh)
	Add many environment meshes that bypass the requirement to have them in the Chrono system. More...

void	ReconstructScenes ()
	Calls on the sensor manager to rebuild the scene, translating all objects from the Chrono system into their appropriate optix objects.

int	GetMaxEngines ()
	Get the maximum number of allowed OptiX Engines for the manager. More...

void	SetMaxEngines (int num_groups)
	Set the maximum number of allowable optix engines. More...

void	SetKeyframeSize (int size)
	Set the max number of keyframes to use when rendering motion blur. More...

int	GetKeyframeSize ()
	Get the max number of keyframes to use when rendering motion blur. More...

void	SetKeyframeSizeFromTimeStep (float min_timestep, float max_collection_window)
	Set the max key frame size from a simulation time step and the largest collection window. More...

void	SetRayRecursions (int rec)
	Set the number of recursions for ray tracing. More...

int	GetRayRecursions ()
	Get the number of recursions used in ray tracing. More...

void	SetVerbose (bool verbose)
	Set if the sensor framework should print all info. More...

bool	GetVerbose ()
	Get the verbose setting. More...

Public Attributes
std::shared_ptr< ChScene >	scene
	Public pointer to the scene. More...

Constructor & Destructor Documentation

◆ ChSensorManager()

CH_SENSOR_API chrono::sensor::ChSensorManager::ChSensorManager ( ChSystem * chrono_system )

Class constructor.

Parameters

chrono_system The chrono system with which the sensor manager is associated. Used for time management. created.

Member Function Documentation

◆ AddInstancedStaticSceneMeshes()

CH_SENSOR_API void chrono::sensor::ChSensorManager::AddInstancedStaticSceneMeshes	(	std::vector< ChFrame<>> &	frames,
		std::shared_ptr< ChTriangleMeshShape >	mesh
	)

Add many environment meshes that bypass the requirement to have them in the Chrono system.

This adds meshes that only exist in OptiX. Meshes will be removed upon call to ReconstructScenes().

◆ AddSensor()

CH_SENSOR_API void chrono::sensor::ChSensorManager::AddSensor ( std::shared_ptr< ChSensor > sensor )

Add a sensor to the manager.

Parameters

sensor The sensor that should be added to the system

◆ GetDeviceList()

CH_SENSOR_API std::vector< unsigned int > chrono::sensor::ChSensorManager::GetDeviceList ( )

Get the list of devices that are intended for use.

Returns: List of device IDs that the manager will try to use when rendering.

◆ GetEngine()

CH_SENSOR_API std::shared_ptr< ChOptixEngine > chrono::sensor::ChSensorManager::GetEngine ( int context_id )

Get a pointer to the engine based on the id of the engine.

Parameters

context_id The ID of the engine to be returned

Returns: A shared pointer to an OptiX engine the manager is using

◆ GetKeyframeSize()

int chrono::sensor::ChSensorManager::GetKeyframeSize ( )

inline

Get the max number of keyframes to use when rendering motion blur.

Returns: the number of keyframes being used

◆ GetMaxEngines()

int chrono::sensor::ChSensorManager::GetMaxEngines ( )

inline

Get the maximum number of allowed OptiX Engines for the manager.

Returns: An integer specifying the maximum number of engines the manager is allowed to create.

◆ GetNumEngines()

int chrono::sensor::ChSensorManager::GetNumEngines ( )

inline

Get the number of engines the manager is currently using.

Returns: An integer number of OptiX engines

◆ GetRayRecursions()

int chrono::sensor::ChSensorManager::GetRayRecursions ( )

inline

Get the number of recursions used in ray tracing.

Returns: The max number of recursions used in ray tracing

◆ GetSensorList()

std::vector<std::shared_ptr<ChSensor> > chrono::sensor::ChSensorManager::GetSensorList ( )

inline

Get the list of sensors for which this manager is responsible.

Returns: The list of sensors for which the manager is responsible and updates

◆ GetVerbose()

bool chrono::sensor::ChSensorManager::GetVerbose ( )

inline

Get the verbose setting.

Returns: The verbose setting

◆ SetDeviceList()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetDeviceList ( std::vector< unsigned int > device_ids )

Set the list of devices (GPUs) that should be used for rendering.

Parameters

device_ids List of IDs corresponding to the devices (GPUs) that should be used.

◆ SetKeyframeSize()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetKeyframeSize ( int size )

Set the max number of keyframes to use when rendering motion blur.

Parameters

size	The number of keyframes

◆ SetKeyframeSizeFromTimeStep()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetKeyframeSizeFromTimeStep	(	float	min_timestep,
		float	max_collection_window
	)

Set the max key frame size from a simulation time step and the largest collection window.

Parameters

min_timestep	The estimated timestep to be used in the simulation
max_collection_window	The largest collection window of any rendering sensor (camera or lidar)

◆ SetMaxEngines()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetMaxEngines ( int num_groups )

Set the maximum number of allowable optix engines.

The manager will spawn up to this number of optix engines (separate threads for rendering) based on the update rate of the sensors. Sensors with similar update rates will be grouped on the same engine to reduce the number of scene updates that are required as this is a major bottleneck in the multithreading paradigm of the render engine.

Parameters

num_groups The maximum number of optix engines the manager is allowed to create.

◆ SetRayRecursions()

CH_SENSOR_API void chrono::sensor::ChSensorManager::SetRayRecursions ( int rec )

Set the number of recursions for ray tracing.

Parameters

rec	The max number of recursions allowed in ray tracing

◆ SetVerbose()

void chrono::sensor::ChSensorManager::SetVerbose ( bool verbose )

inline

Set if the sensor framework should print all info.

Parameters

verbose Whether the framework should print info

Member Data Documentation

◆ scene

std::shared_ptr<ChScene> chrono::sensor::ChSensorManager::scene

Public pointer to the scene.

This is used to specify additional componenets include lights, background colors, etc

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_sensor/ChSensorManager.h
/builds/uwsbel/chrono/src/chrono_sensor/ChSensorManager.cpp

Description

Public Member Functions

Public Attributes

Constructor & Destructor Documentation

◆ ChSensorManager()

Member Function Documentation

◆ AddInstancedStaticSceneMeshes()

◆ AddSensor()

◆ GetDeviceList()

◆ GetEngine()

◆ GetKeyframeSize()

◆ GetMaxEngines()

◆ GetNumEngines()

◆ GetRayRecursions()

◆ GetSensorList()

◆ GetVerbose()

◆ SetDeviceList()

◆ SetKeyframeSize()

◆ SetKeyframeSizeFromTimeStep()

◆ SetMaxEngines()

◆ SetRayRecursions()

◆ SetVerbose()

Member Data Documentation

◆ scene