CUDA Wrapper Functions

Description

Collaboration diagram for CUDA Wrapper Functions:

Functions
void	chrono::sensor::cuda_camera_noise_const_normal (unsigned char *bufPtr, int width, int height, float mean, float stdev, curandState_t *rng, CUstream &stream)
	Kernel for applying uniform Gaussian noise to an image. More...
void	chrono::sensor::cuda_camera_noise_pixel_dependent (unsigned char *bufPtr, int width, int height, float gain, float sigma_read, float sigma_adc, curandState_t *rng, CUstream &stream)
	Kernel for applying pixel dependent Gaussian noise to an image. More...
__global__ void	chrono::sensor::init_random_states (unsigned int seed, curandState_t *rng_states, int n_generators)
	Device function for initialing random values for cuRAND. More...
void	chrono::sensor::init_cuda_rng (unsigned int seed, curandState_t *rng_states, int n_generators)
	Host function for initialing random values for cuRAND. More...
void	chrono::sensor::cuda_grayscale (void *bufRGBA, void *bufOut, int width, int height, CUstream &stream)
	RGB 8 bpp image of uchar to greyscale image conversion. More...
void	chrono::sensor::cuda_image_alias (void *bufIn, void *bufOut, int w_out, int h_out, int factor, int pix_size, CUstream &stream)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...
void	chrono::sensor::cuda_image_alias_float (void *bufIn, void *bufOut, int w_out, int h_out, int factor, int pix_size, CUstream &stream)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...
void	chrono::sensor::cuda_image_gauss_blur_char (void *buf, int w, int h, int c, int factor, CUstream &stream)
	An image blurring function that reduces performs Gaussian blur. More...
void	chrono::sensor::cuda_image_half4_to_uchar4 (void *bufIn, void *bufOut, int w, int h, CUstream &stream)
	Conversion from half4 to uchar4. More...
void	chrono::sensor::cuda_lidar_clip (float *buf, int width, int height, float threshold, float default_dist, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...
void	chrono::sensor::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, CUstream &stream)
	Function for applying Gaussian noise to raw ground truth lidar data. More...
void	chrono::sensor::cuda_lidar_mean_reduce (void *bufIn, void *bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...
void	chrono::sensor::cuda_lidar_strong_reduce (void *bufIn, void *bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...
void	chrono::sensor::cuda_lidar_first_reduce (void *bufIn, void *bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...
void	chrono::sensor::cuda_lidar_dual_reduce (void *bufIn, void *bufOut, int width, int height, int radius, CUstream &stream)
	Function for reduction of data when multiple samples are used per beam. More...
void	chrono::sensor::preprocess_RGBA8_to_FLOAT3 (void *bufIn, void *bufOut, int h, int w)
	Function that converts uchar RGBA8 image to float3 image. More...
void	chrono::sensor::preprocess_RGBA8_to_FLOAT4 (void *bufIn, void *bufOut, int num_entries)
	Function that converts uchar RGBA8 image to float4 image. More...
void	chrono::sensor::postprocess_FLOAT4_to_RGBA8 (void *bufIn, void *bufOut, int num_entries)
	Function that converts float4 image to uchar RGBA8 image. More...
void	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::cuda_pointcloud_from_depth (void *bufDI, void *bufOut, int width, int height, float hfov, float max_v_angle, float min_v_angle, CUstream &stream)
	Converts depth data to point cloud data for a lidar. More...
void	chrono::sensor::cuda_pointcloud_from_depth_dual_return (void *bufDI, void *bufOut, int width, int height, float hfov, float max_v_angle, float min_v_angle, CUstream &stream)
	Converts depth data to point cloud data for a lidar when the mode is dual return. More...

Function Documentation

cuda_camera_noise_const_normal()

void chrono::sensor::cuda_camera_noise_const_normal	(	unsigned char *	bufPtr,
		int	width,
		int	height,
		float	mean,
		float	stdev,
		curandState_t *	rng,
		CUstream &	stream
	)

Kernel for applying uniform Gaussian noise to an image.

Parameters

bufPtr	A uchar (values 0-255) pointer to device memory where the image is stored. Memory assumed to be row major and contiguous. (Flat array representing image).
width	The width of the image in pixels.
height	The height of the image in pixels.
mean	The mean of the Gaussian distribution to be sampled.
stdev	The standard deviation of the distribution to be sampled.
rng	The states to be randomly generated
stream	The cuda stream for the kernel launch

cuda_camera_noise_pixel_dependent()

void chrono::sensor::cuda_camera_noise_pixel_dependent	(	unsigned char *	bufPtr,
		int	width,
		int	height,
		float	gain,
		float	sigma_read,
		float	sigma_adc,
		curandState_t *	rng,
		CUstream &	stream
	)

Kernel for applying pixel dependent Gaussian noise to an image.

Parameters

bufPtr	A uchar (values 0-255) pointer to device memory where the image is stored. Memory assumed to be row major and contiguous. (Flat array representing image).
width	The width of the image in pixels.
height	The height of the image in pixels.
gain	The linear coefficient of correlation between pixel intensity and noise variance
sigma_read	The standard deviation of multiplicative noise to be sampled.
sigma_adc	The standard deviation of additive noise to be sampled.
rng	The states to be randomly generated
stream	The cuda stream for the kernel launch

cuda_grayscale()

void chrono::sensor::cuda_grayscale	(	void *	bufRGBA,
		void *	bufOut,
		int	width,
		int	height,
		CUstream &	stream
	)

RGB 8 bpp image of uchar to greyscale image conversion.

Parameters

bufRGBA	The input buffer of RGBA data in uchar format (8 bpp)
bufOut	A pointer to the output buffer where greyscale data will be held (8 bpp)
width	The width of the image
height	The height of the image
stream	The cuda stream for the kernel

cuda_image_alias()

void chrono::sensor::cuda_image_alias	(	void *	bufIn,
		void *	bufOut,
		int	w_out,
		int	h_out,
		int	factor,
		int	pix_size,
		CUstream &	stream
	)

An antialiasing helper function that reduces image quality by performing mean reduction of image.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w_out	The output image width.
h_out	The output image height.
factor	The reduction factor per dimension.
pix_size	Size of a pixel (number of channels).
stream	cuda stream for computation

cuda_image_alias_float()

void chrono::sensor::cuda_image_alias_float	(	void *	bufIn,
		void *	bufOut,
		int	w_out,
		int	h_out,
		int	factor,
		int	pix_size,
		CUstream &	stream
	)

An antialiasing helper function that reduces image quality by performing mean reduction of image.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w_out	The output image width.
h_out	The output image height.
factor	The reduction factor per dimension.
pix_size	Size of a pixel (number of channels).
stream	cuda stream for computation

cuda_image_gauss_blur_char()

void chrono::sensor::cuda_image_gauss_blur_char	(	void *	buf,
		int	w,
		int	h,
		int	c,
		int	factor,
		CUstream &	stream
	)

An image blurring function that reduces performs Gaussian blur.

Parameters

buf
w
h
c
factor
stream	cuda stream for computation

cuda_image_half4_to_uchar4()

void chrono::sensor::cuda_image_half4_to_uchar4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from half4 to uchar4.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

cuda_lidar_clip()

void chrono::sensor::cuda_lidar_clip	(	float *	buf,
		int	width,
		int	height,
		float	threshold,
		float	default_dist,
		CUstream &	stream
	)

Function for reduction of data when multiple samples are used per beam.

The performs a mean average of the data with the sample radius.

Parameters

buf	Input/output device pointer to raw lidar data. Computation will be done in-place
width	Width of the input data
height	Height of the inpute data
threshold	Intensity threshold for removing points
default_dist	Default distance to use when removing points
stream	The cuda stream used for processing the kernel

cuda_lidar_dual_reduce()

void chrono::sensor::cuda_lidar_dual_reduce	(	void *	bufIn,
		void *	bufOut,
		int	width,
		int	height,
		int	radius,
		CUstream &	stream
	)

Function for reduction of data when multiple samples are used per beam.

The calculates the strongest and first return the data structure is [[strongest, first], [strongest, first], [strongest, first]....]

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

cuda_lidar_first_reduce()

void chrono::sensor::cuda_lidar_first_reduce	(	void *	bufIn,
		void *	bufOut,
		int	width,
		int	height,
		int	radius,
		CUstream &	stream
	)

Function for reduction of data when multiple samples are used per beam.

The calculates the first return within the sample radius of the beam.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

cuda_lidar_mean_reduce()

void chrono::sensor::cuda_lidar_mean_reduce	(	void *	bufIn,
		void *	bufOut,
		int	width,
		int	height,
		int	radius,
		CUstream &	stream
	)

Function for reduction of data when multiple samples are used per beam.

The performs a mean average of the data with the sample radius.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

cuda_lidar_noise_normal()

void chrono::sensor::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,
		CUstream &	stream
	)

Function for applying Gaussian noise to raw ground truth lidar data.

Independent for range, intensity, and angles

Parameters

bufPtr	Device pointer to depth/intensity lidar data.
width	Width of lidar data buffer.
height	Height of lidar data buffer.
stdev_range	Standard deviation for lidar range.
stdev_v_angle	Standard deviation of noise for vertical angle measurement
stdev_h_angle	Standard deviation of noise for horizontal angle measurement.
stdev_intensity	Standard deviation of noise for vertical angle measurement.
rng	The state to be randomly generated
stream	The cuda stream for the kernel launch

cuda_lidar_strong_reduce()

void chrono::sensor::cuda_lidar_strong_reduce	(	void *	bufIn,
		void *	bufOut,
		int	width,
		int	height,
		int	radius,
		CUstream &	stream
	)

Function for reduction of data when multiple samples are used per beam.

The calculates the strongest return within the sample radius of the beam.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

cuda_pointcloud_from_depth()

void chrono::sensor::cuda_pointcloud_from_depth	(	void *	bufDI,
		void *	bufOut,
		int	width,
		int	height,
		float	hfov,
		float	max_v_angle,
		float	min_v_angle,
		CUstream &	stream
	)

Converts depth data to point cloud data for a lidar.

Parameters

bufDI	A device pointer to depth/intensity data from a lidar.
bufOut	A device pointer to when the point cloud data will be stored.
width	The width of the lidar data.
height	The height of the lidar data.
hfov	The horizontal field of view of the lidar.
max_v_angle	The maximun vertical fov angle of the lidar
min_v_angle	The minimum vertical fov angle for the lidar
stream	The cuda stream for the kernel

cuda_pointcloud_from_depth_dual_return()

void chrono::sensor::cuda_pointcloud_from_depth_dual_return	(	void *	bufDI,
		void *	bufOut,
		int	width,
		int	height,
		float	hfov,
		float	max_v_angle,
		float	min_v_angle,
		CUstream &	stream
	)

Converts depth data to point cloud data for a lidar when the mode is dual return.

Parameters

bufDI	A device pointer to depth/intensity data from a lidar.
bufOut	A device pointer to when the point cloud data will be stored.
width	The width of the lidar data.
height	The height of the lidar data.
hfov	The horizontal field of view of the lidar.
max_v_angle	The maximun vertical fov angle of the lidar
min_v_angle	The minimum vertical fov angle for the lidar
stream	The cuda stream for the kernel

init_cuda_rng()

void chrono::sensor::init_cuda_rng	(	unsigned int	seed,
		curandState_t *	rng_states,
		int	n_generators
	)

Host function for initialing random values for cuRAND.

Parameters

seed	Random number generator seed.
rng_states	The states to be randomly generated.
n_generators	The number of random value generators we need.

init_random_states()

__global__ void chrono::sensor::init_random_states	(	unsigned int	seed,
		curandState_t *	rng_states,
		int	n_generators
	)

Device function for initialing random values for cuRAND.

Parameters

seed	Random number generator seed.
rng_states	The states to be randomly generated.
n_generators	The number of random value generators we need.

postprocess_FLOAT4_to_RGBA8()

void chrono::sensor::postprocess_FLOAT4_to_RGBA8	(	void *	bufIn,
		void *	bufOut,
		int	num_entries
	)

Function that converts float4 image to uchar RGBA8 image.

Parameters

bufIn	Input device pointer in float format.
bufOut	Output device pointer in uchar format.
num_entries	The number of entries in the image (c*h*w).

postprocess_FLOAT4_to_RGBA8_CHW()

void chrono::sensor::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.

Parameters

bufIn	Input device pointer in float format.
bufOut	Output device pointer in uchar format.
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.

preprocess_normalize_float()

void chrono::sensor::preprocess_normalize_float	(	void *	bufIn,
		float	add,
		float	mult,
		int	c,
		int	h,
		int	w
	)

Function that normalized input data in float format.

Parameters

bufIn	Input device pointer in float format.
add
mult
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.

preprocess_RGBA8_to_FLOAT3()

void chrono::sensor::preprocess_RGBA8_to_FLOAT3	(	void *	bufIn,
		void *	bufOut,
		int	h,
		int	w
	)

Function that converts uchar RGBA8 image to float3 image.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
h	The height of the image.
w	The width of the image.

preprocess_RGBA8_to_FLOAT4()

void chrono::sensor::preprocess_RGBA8_to_FLOAT4	(	void *	bufIn,
		void *	bufOut,
		int	num_entries
	)

Function that converts uchar RGBA8 image to float4 image.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
num_entries	The number of entries in the image (c*h*w).

preprocess_RGBA8_to_FLOAT4_CHW()

void chrono::sensor::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.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.