Description

Namespace for Chrono::Sensor.

Classes
struct	ByteImageData
	stores image data More...

class	ChCameraSensor
	Camera class. More...

class	ChDynamicsManager
	class for managing dynamic sensors. More...

class	ChFilter
	Base class for all filters that can be applied to a sensor after initial rendering. More...

class	ChFilterAccess
	Filter for accessing data from the sensor. More...

class	ChFilterCameraNoiseConstNormal
	A filter that adds Gaussian noise across an image with constant mean and standard deviation. More...

class	ChFilterCameraNoisePixDep
	A filter that adds pixel dependent gaussian noise across an image. Method summarized in paper: () More...

class	ChFilterGPSUpdate
	Class for generating GPS data for a GPS sensor. More...

class	ChFilterGrayscale
	A filter that, when applied to a sensor, changes the RGB buffer to grayscale. More...

class	ChFilterImageResize
	A filter that, when applied to a sensor, resizes the image to the specified dimensions. More...

class	ChFilterImgAlias
	A filter that, when applied to a sensor, reduces the resolution for antialiasing. More...

class	ChFilterIMUUpdate
	Class for generating IMU data. More...

class	ChFilterLidarNoiseXYZI
	A filter that adds noise based on depth and intensity given data in point cloud format. More...

class	ChFilterONNX
	A filter that processes data through a pre-trained neural network, based on ONNX format. More...

class	ChFilterOptixRender
	A filter that generates data for a ChOptixSensor. More...

class	ChFilterPCfromDepth
	A filter that, when applied to a sensor, generates point cloud data from depth values. More...

class	ChFilterSave
	A filter that, when applied to a sensor, saves the data as an image. More...

class	ChFilterSavePtCloud
	A filter that, when applied to a sensor, saves point cloud data. More...

class	ChFilterUFF
	A filter that processes data through a pre-trained neural network, based on UFF format. More...

class	ChFilterVisualize
	A filter that, when applied to a sensor, creates a GUI window to visualize the sensor (using GLFW). More...

class	ChFilterVisualizePointCloud
	A filter that, when applied to a sensor, creates a GUI window to visualize the sensor (using GLFW). More...

class	ChGPSNoiseModel
	GPS Noise Model base class. All GPS noise models should inherit from here. More...

class	ChGPSNoiseNone
	GPS Noise model: individually parameterized independent gaussian distribution. More...

class	ChGPSNoiseNormal
	GPS Noise model: individually parameterized independent gaussian distribution. More...

class	ChGPSSensor
	GPS class. More...

class	ChIMUNoiseModel
	IMU Noise Model base class. More...

class	ChIMUNoiseNone
	IMU Noise model: no noise. More...

class	ChIMUNoiseNormalDrift
	IMU Noise model: gaussian drifting noise with noncorrelated equal distributions. More...

class	ChIMUSensor
	IMU class. More...

class	ChLidarSensor
	Lidar class. This corresponds to a scanning lidar. More...

class	ChOptixEngine
	Optix Engine that is responsible for managing all render-based sensors. More...

class	ChOptixSensor
	Optix sensor class - the base class for all sensors that interface with OptiX to generate and render their data. More...

class	ChScene
	Scene class used for camera renderings. Includes environment colors, lights, etc. More...

class	ChSensor
	GPS data format (4 doubles total) More...

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

struct	GPSData
	GPS data in generic format. More...

struct	IMUData
	IMU data in generic format. More...

class	Logger
	Inference Logger for TensorRT. More...

struct	PixelDI
	Depth and intensity data in generic format. More...

struct	PixelRGBA8
	A pixel as defined by RGBA 8bpp format. More...

struct	PixelXYZI
	Point cloud and intensity data in generic format. More...

struct	ProgramString
	holds string values for ptx file and ray generation program More...

class	Sensor
	Sensor class for constructing sensors from a JSON specification file. More...

struct	SensorBuffer
	The base buffer class that contains sensor data (contains meta data of the buffer and pointer to raw data) More...

struct	SensorBufferT
	Base class of 2D buffers. More...

struct	TRTDestroyer
	destructor for tensorRT pointers More...

Typedefs
using	SensorOptixBuffer = SensorBufferT< optix::Buffer >
	Wrapper of an optix buffer as a sensor buffer for homogeneous use in sensor filters.

using	SensorHostRGBA8Buffer = SensorBufferT< std::shared_ptr< PixelRGBA8[]> >
	RGBA host buffer to be used for managing data on the host.

using	DeviceRGBA8BufferPtr = std::shared_ptr< PixelRGBA8[]>
	RGBA device buffer to be used by camera filters in the graph.

using	SensorDeviceRGBA8Buffer = SensorBufferT< DeviceRGBA8BufferPtr >
	Sensor buffer wrapper of a DeviceRGBA8BufferPtr.

using	UserRGBA8BufferPtr = std::shared_ptr< SensorHostRGBA8Buffer >
	pointer to an RGBA image on the host that has been moved for safety and can be given to the user

using	SensorHostR8Buffer = SensorBufferT< std::shared_ptr< char[]> >
	Greyscale host buffer to be used by camera filters in the graph.

using	DeviceR8BufferPtr = std::shared_ptr< char[]>
	Greyscale device buffer to be used by camera filters in the graph.

using	SensorDeviceR8Buffer = SensorBufferT< DeviceR8BufferPtr >
	Sensor buffer wrapper of a DeviceR8BufferPtr.

using	UserR8BufferPtr = std::shared_ptr< SensorHostR8Buffer >
	pointer to a greyscale image on the host that has been moved for safety and can be given to the user

using	SensorHostDIBuffer = SensorBufferT< std::shared_ptr< PixelDI[]> >
	Depth-intensity host buffer to be used by lidar filters in the graph.

using	DeviceDIBufferPtr = std::shared_ptr< PixelDI[]>
	Depth-intensity device buffer to be used by lidar filters in the graph.

using	SensorDeviceDIBuffer = SensorBufferT< DeviceDIBufferPtr >
	Sensor buffer wrapper of a DeviceDIBufferPtr.

using	UserDIBufferPtr = std::shared_ptr< SensorHostDIBuffer >
	pointer to a depth-intensity buffer on the host that has been moved for safety and can be given to the user

using	SensorHostXYZIBuffer = SensorBufferT< std::shared_ptr< PixelXYZI[]> >
	Point cloud host buffer to be used by lidar filters in the graph.

using	DeviceXYZIBufferPtr = std::shared_ptr< PixelXYZI[]>
	Point cloud device buffer to be used by lidar filters in the graph.

using	SensorDeviceXYZIBuffer = SensorBufferT< DeviceXYZIBufferPtr >
	Sensor buffer wrapper of a DeviceXYZIBufferPtr.

using	UserXYZIBufferPtr = std::shared_ptr< SensorHostXYZIBuffer >
	pointer to a point cloud buffer on the host that has been moved for safety and can be given to the user

using	SensorHostIMUBuffer = SensorBufferT< std::shared_ptr< IMUData[]> >
	IMU host buffer to be used by IMU filters in the graph.

using	UserIMUBufferPtr = std::shared_ptr< SensorHostIMUBuffer >
	pointer to an IMU buffer on the host that has been moved for safety and can be given to the user

using	SensorHostGPSBuffer = SensorBufferT< std::shared_ptr< GPSData[]> >
	GPS host buffer to be used by GPS filters in the graph.

using	UserGPSBufferPtr = std::shared_ptr< SensorHostGPSBuffer >
	pointer to a GPS buffer on the host that has been moved for safety and can be given to the user

using	ChFilterR8Access = ChFilterAccess< SensorHostR8Buffer, UserR8BufferPtr >
	Access to greyscale data.

using	ChFilterRGBA8Access = ChFilterAccess< SensorHostRGBA8Buffer, UserRGBA8BufferPtr >
	Access to RGBA8 data.

using	ChFilterXYZIAccess = ChFilterAccess< SensorHostXYZIBuffer, UserXYZIBufferPtr >
	Access to point cloud data.

using	ChFilterDIAccess = ChFilterAccess< SensorHostDIBuffer, UserDIBufferPtr >
	Access to depth/intensity data.

using	ChFilterIMUAccess = ChFilterAccess< SensorHostIMUBuffer, UserIMUBufferPtr >
	Access to IMU data.

using	ChFilterGPSAccess = ChFilterAccess< SensorHostGPSBuffer, UserGPSBufferPtr >
	Access to GPS data.

Enumerations
enum	CameraLensModelType { PINHOLE, SPHERICAL }
	The type of lens model that camera can use for rendering. More...

enum	LidarModelType { RAYCAST }
	Lidar model type. Currently supports a ray cast model that does not include material properties.

enum	LidarReturnMode { LidarReturnMode::STRONGEST_RETURN, LidarReturnMode::MEAN_RETURN, LidarReturnMode::FIRST_RETURN, LidarReturnMode::LAST_RETURN }
	Lidar return mode when multiple objects are seen. More...

enum	LoggerVerbosity { NONE, PARTIAL, ALL }
	Logger verbosity enumerator. More...

Functions
void	cuda_camera_noise_const_normal (unsigned char bufPtr, int width, int height, float mean, float stdev, curandState_t rng)
	Kernel for applying uniform Gaussian noise to an image. More...

void	cuda_camera_noise_pixel_dependent (unsigned char bufPtr, int width, int height, float gain, float sigma_read, float sigma_adc, curandState_t rng)
	Kernel for applying pixel dependent Gaussian noise to an image. More...

__global__ void	init_random_states (unsigned int seed, curandState_t *rng_states, int n_generators)
	Device function for initialing random values for cuRAND. More...

void	init_cuda_rng (unsigned int seed, curandState_t *rng_states, int n_generators)
	Host function for initialing random values for cuRAND. More...

void	cuda_grayscale (void bufRGBA, void bufOut, int width, int height)
	RGB 8 bpp image of uchar to greyscale image conversion. More...

void	cuda_image_alias (void bufIn, void bufOut, int w_out, int h_out, int factor, int pix_size)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...

void	cuda_image_gauss_blur_char (void *buf, int w, int h, int c, int factor)
	An image blurring function that reduces performs Gaussian blur. More...

void	cuda_lidar_clip (float *buf, int width, int height, float threshold, float default_dist)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_noise_normal (float bufPtr, int width, int height, float stdev_range, float stdev_v_angle, float stdev_h_angle, float stdev_intensity, curandState_t rng)
	Function for applying Gaussian noise to raw ground truth lidar data. More...

void	cuda_lidar_mean_reduce (void bufIn, void bufOut, int width, int height, int radius)
	Function for reduction of data when multiple samples are used per beam. More...

void	cuda_lidar_strong_reduce (void bufIn, void bufOut, int width, int height, int radius)
	Function for reduction of data when multiple samples are used per beam. More...

void	preprocess_RGBA8_to_FLOAT3 (void bufIn, void bufOut, int h, int w)
	Function that converts uchar RGBA8 image to float3 image. More...

void	preprocess_RGBA8_to_FLOAT4 (void bufIn, void bufOut, int num_entries)
	Function that converts uchar RGBA8 image to float4 image. More...

void	postprocess_FLOAT4_to_RGBA8 (void bufIn, void bufOut, int num_entries)
	Function that converts float4 image to uchar RGBA8 image. More...

void	preprocess_RGBA8_to_FLOAT4_CHW (void bufIn, void bufOut, int c, int h, int w)
	Function that converts uchar RGBA8 image to float4 image with channels first. More...

void	preprocess_normalize_float (void *bufIn, float add, float mult, int c, int h, int w)
	Function that normalized input data in float format. More...

void	postprocess_FLOAT4_to_RGBA8_CHW (void bufIn, void bufOut, int c, int h, int w)
	Function that converts float4 image to uchar RGBA8 image with channels first. More...

void	cuda_pointcloud_from_depth (void bufDI, void bufOut, int width, int height, float hfov, float max_v_angle, float min_v_angle)
	Converts depth data to point cloud data for a lidar. More...

CH_SENSOR_API optix::Program	GetRTProgram (optix::Context context, std::string file_name, std::string program_name)
	launches ray generation program More...

ByteImageData	LoadImage (std::string filename)
	loads image to struct ByteImageData, returns an empty struct with 0 values if loading failed More...

Transform	CreateEmptyTransform (optix::Context context)
	creates an empty optix transform::node More...

Transform	CreateTransform (optix::Context context, ChMatrix33< double > a, ChVector< double > b)
	creates an opti::transform node More...

Transform	CreateTransform (optix::Context context, ChMatrix33< double > a, ChVector< double > b, ChVector< double > s)
	creates an optix::transform node More...

Transform	CreateTransformFromEndPoints (optix::Context context, ChVector<> a, ChVector<> b, ChVector<> from)
	creatse an optix::transform node based on end points More...

Transform	CreateTransformFromEndPoints (optix::Context context, ChVector<> a, ChVector<> b, ChVector<> from, ChVector<> s)

void	UpdateTransform (optix::Transform t, ChMatrix33< double > a, ChVector< double > b)
	updates the projection matrix in the optix::transform object More...

void	UpdateTransform (optix::Transform t, ChMatrix33< double > a, ChVector< double > b, ChVector< double > s)
	updates the projection matrix in the optix::transform object More...

optix::Transform	CreateTransformFromEndPoints (optix::Context context, ChVector<> a, ChVector<> b, ChVector<> from, ChVector< double > s)
	creatse an optix::transform node based on end points More...

Document	ReadFileJSON (const std::string &filename)
	Load and return a RapidJSON document from the specified file. More...

ChVector	ReadVectorJSON (const Value &a)

ChQuaternion	ReadQuaternionJSON (const Value &a)

ChFrame	ReadFrameJSON (const Value &a)

std::shared_ptr< ChSensor >	ReadSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a sensor from the specified JSON file. More...

std::shared_ptr< ChCameraSensor >	ReadCameraSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a camera sensor from the specified JSON file. More...

std::shared_ptr< ChGPSSensor >	ReadGPSSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a gps sensor from the specified JSON file. More...

std::shared_ptr< ChIMUSensor >	ReadIMUSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a imu sensor from the specified JSON file. More...

std::shared_ptr< ChLidarSensor >	ReadLidarSensorJSON (const std::string &filename, std::shared_ptr< chrono::ChBody > parent, chrono::ChFrame< double > offsetPose)
	Load and return a lidar sensor from the specified JSON file. More...

void	ReadFilterListJSON (const std::string &filename, std::shared_ptr< ChSensor > sensor)
	Load and return a sensor filter list from the specified JSON file. More...

std::shared_ptr< ChFilter >	CreateFilterJSON (const Value &value)

std::shared_ptr< ChIMUNoiseModel >	CreateIMUNoiseJSON (const Value &value)

std::shared_ptr< ChGPSNoiseModel >	CreateGPSNoiseJSON (const Value &value)

std::string	GetStringMemberWithDefault (const Value &value, const char member, const char def)

CH_SENSOR_API ChVector	ReadVectorJSON (const rapidjson::Value &a)
	Load and return a ChVector from the specified JSON array. More...

CH_SENSOR_API ChQuaternion	ReadQuaternionJSON (const rapidjson::Value &a)
	Load and return a ChQuaternion from the specified JSON array. More...

CH_SENSOR_API ChFrame	ReadFrameJSON (const rapidjson::Value &a)
	Load and return a ChFrame from the specified JSON array. More...

CH_SENSOR_API std::shared_ptr< ChFilter >	CreateFilterJSON (const rapidjson::Value &value)
	Load and return a sensor filter from the specified JSON value. More...

CH_SENSOR_API std::shared_ptr< ChIMUNoiseModel >	CreateIMUNoiseJSON (const rapidjson::Value &value)
	Load and return a imu noise model from the specified JSON value. More...

CH_SENSOR_API std::shared_ptr< ChGPSNoiseModel >	CreateGPSNoiseJSON (const rapidjson::Value &value)
	Load and return a gps noise model from the specified JSON value. More...

CH_SENSOR_API std::string	GetStringMemberWithDefault (const rapidjson::Value &value, const char member, const char def="")
	Load and return a std::string from the specified JSON value Will check if member exists and returns if it does, def if not. More...

void	CreateModernMeshAssets (std::shared_ptr< ChTriangleMeshShape > mesh_shape)
	Generate a set of visual assets that works with OptiX and handles the most modern rendering information contained in the mesh as possible. More...

void	ConvertToModernAssets (std::shared_ptr< ChBody > body)
	Convert assets attached to a ChBody to modern assets by creating all necessary parameters for reflections, refractions, etc. More...

void	ConvertToModernAssets (ChSystem *sys)
	Parse all assets of a chrono system to do a full conversion to assets needed by OptiX. More...

template<class T >
T *	cudaMallocHelper (unsigned int size)
	Function for creating a chunk of memory that will implicitely desconstruct itself. More...

template<class T >
void	cudaFreeHelper (T *ptr)
	The desconstructor that will be called to free memory from the device pointer. More...

Variables
const char	ChFilterR8AccessName [] = "ChFilterR8Access"
	global constanst for use in template parameters

const char	ChFilterRGBA8AccessName [] = "ChFilterRGBA8Access"
	single channel 8 bit array

const char	ChFilterDIAccessName [] = "ChFilterDIAccess"
	4 channel 8 bit array

const char	ChFilterXYZIAccessName [] = "ChFilterXYZIAccess"
	2 channel float array (Depth+Intenisty)

const char	ChFilterIMUAccessName [] = "ChFilterIMUAccess"
	4 channel float array (XYZ positions+Intensity)

const char	ChFilterGPSAccessName [] = "ChFilterGPSAccess"
	IMU data format (6 floats total)

const std::string	ptx_pre = "ChronoEngine_sensor_generated_"
	prefix for ptx file

const std::string	ptx_suff = ".cu.ptx"
	suffix for ptx file

Description

Classes

Typedefs

Enumerations

Functions

Variables