OptiX-Based Code

Description

Collaboration diagram for OptiX-Based Code:

Classes
struct	AreaLight
	The different types of area lights that can exist in our current models. More...
struct	PointLight
	Packed parameters of a point light. More...
struct	CameraMissParameters
	The parameters associated with camera miss data. A.K.A background data. More...
struct	MissParameters
	The parameters for a camera miss record. More...
struct	LensParams
	Inverse lens param for modeling polynomial forward model. More...
struct	CameraParameters
	The parameters needed to define a camera. More...
struct	SemanticCameraParameters
	Parameters need to define a camera that generates semantic segmentation data. More...
struct	LidarParameters
	Parameters used to define a lidar. More...
struct	RadarParameters
	Parameters used to define a radar. More...
struct	RaygenParameters
	Parameters for specifying raygen programs. More...
struct	MeshParameters
	All the data to specific a triangle mesh. More...
struct	MaterialParameters
	All parameters for specifying a material in optix. More...
struct	ContextParameters
	Parameters associated with the entire optix scene. More...
struct	MaterialRecordParameters
	Parameters associated with a single object in the scene. Padding added during record creation. More...
struct	PerRayData_camera
	Data associated with a single camera ray. More...
struct	PerRayData_semantic
	Data associated with a single segmentation camera ray. More...
struct	PerRayData_shadow
	Data associated with a single shadow ray. More...
struct	PerRayData_lidar
	Data associated with a single lidar ray. More...
struct	PerRayData_radar
	Data associated with a single radar ray. More...
class	chrono::sensor::ChOptixEngine
	Optix Engine that is responsible for managing all render-based sensors. More...
struct	chrono::sensor::Transform
	Transform struct for packing a translation, rotation, and scale. More...
class	chrono::sensor::ChOptixGeometry
	Optix Geometry class that is responsible for managing all geometric information in the optix scene This handles the acceleration structure and transforms. More...
class	chrono::sensor::ChOptixPipeline
	Class to hold all the Shader Binding Table parameters adnd manage the ray tracing pipeline, materials, ray gen programs. More...
struct	chrono::sensor::ProgramString
	holds string values for ptx file and ray generation program More...
struct	chrono::sensor::ByteImageData
	stores image data More...

Macros
#define	OPTIX_ERROR_CHECK(result)
	Checks the output of an optix call for any error, will throw a runtime error if not success. More...
#define	CUDA_ERROR_CHECK(result)
	Checks the output of a cuda call for any error, will throw a runtime error if not success. More...

Enumerations
enum	RayType {   CAMERA_RAY_TYPE = 0, SHADOW_RAY_TYPE = 1, LIDAR_RAY_TYPE = 2, RADAR_RAY_TYPE = 3,   SEGMENTATION_RAY_TYPE = 4, DEPTH_RAY_TYPE = 5 }
	Ray types, used to determine the shading and miss functions for populating ray information. More...
enum	CameraLensModelType { PINHOLE, FOV_LENS, RADIAL }
	The type of lens model that camera can use for rendering. More...
enum	BackgroundMode { BackgroundMode::SOLID_COLOR, BackgroundMode::GRADIENT, BackgroundMode::ENVIRONMENT_MAP }
	Type of background to be spherically mapped when rays miss all objects in the scene. More...
enum	LidarBeamShape { LidarBeamShape::RECTANGULAR, LidarBeamShape::ELLIPTICAL }
	The shape of a lidar beam. More...
enum	RadarReturnMode { RadarReturnMode::RETURN, RadarReturnMode::TRACK }
	The mode used when determining what data the radar should return. More...
enum	chrono::sensor::PipelineType {   chrono::sensor::PipelineType::CAMERA, chrono::sensor::PipelineType::SEGMENTATION, DEPTH_CAMERA, chrono::sensor::PipelineType::LIDAR_SINGLE,   chrono::sensor::PipelineType::LIDAR_MULTI, chrono::sensor::PipelineType::RADAR }
	The type of ray tracing used to model the sensor. More...

Functions
void	chrono::sensor::GetShaderFromFile (OptixDeviceContext context, OptixModule &module, const std::string &file_name, OptixModuleCompileOptions &module_compile_options, OptixPipelineCompileOptions &pipeline_compile_options)
	launches ray generation program More...
void	chrono::sensor::optix_log_callback (unsigned int level, const char *tag, const char *message, void *)
ByteImageData	chrono::sensor::LoadByteImage (const std::string &filename)
	loads image to struct ByteImageData, returns an empty struct with 0 values if loading failed More...
void	chrono::sensor::SetSensorShaderDir (const std::string &path)

Macro Definition Documentation

CUDA_ERROR_CHECK

#define CUDA_ERROR_CHECK

(

result

)

Value:

{                                                                                                \
        if (result != cudaSuccess) {                                                                 \
            std::string error_name = std::string(cudaGetErrorName(result));                          \
            std::string error_string = std::string(cudaGetErrorString(result));                      \
            std::string file = std::string(__FILE__);                                                \
            std::string line = std::to_string(__LINE__);                                             \
            throw std::runtime_error(error_name + ": " + error_string + " at " + file + ":" + line); \
        }                                                                                            \
    }

Checks the output of a cuda call for any error, will throw a runtime error if not success.

OPTIX_ERROR_CHECK

#define OPTIX_ERROR_CHECK

(

result

)

Value:

{                                                                                                \
        if (result != OPTIX_SUCCESS) {                                                               \
            std::string error_name = std::string(optixGetErrorName(result));                         \
            std::string error_string = std::string(optixGetErrorString(result));                     \
            std::string file = std::string(__FILE__);                                                \
            std::string line = std::to_string(__LINE__);                                             \
            throw std::runtime_error(error_name + ": " + error_string + " at " + file + ":" + line); \
        }                                                                                            \
    }

Checks the output of an optix call for any error, will throw a runtime error if not success.

Enumeration Type Documentation

BackgroundMode

enum BackgroundMode

strong

Type of background to be spherically mapped when rays miss all objects in the scene.

Enumerator
SOLID_COLOR	single solid color defined by RGB
GRADIENT	color gradient used for upper hemisphere
ENVIRONMENT_MAP	image used for spherical sky map

CameraLensModelType

enum CameraLensModelType

The type of lens model that camera can use for rendering.

Enumerator
PINHOLE	traditional computer graphics ideal camera model.
FOV_LENS	Wide angle lens model based on single spherical lens.
RADIAL	Wide angle lens model based on polynomial fit.

LidarBeamShape

enum LidarBeamShape

strong

The shape of a lidar beam.

Enumerator
RECTANGULAR	rectangular beam (inclusive of square beam)
ELLIPTICAL	elliptical beam (inclusive of circular beam)

PipelineType

enum chrono::sensor::PipelineType

strong

The type of ray tracing used to model the sensor.

Enumerator
CAMERA	camera rendering pipeline
SEGMENTATION	segmentation camera pipeline
LIDAR_SINGLE	< depth camera pipeline> single sample lidar
LIDAR_MULTI	multi sample lidar
RADAR	radar model

RadarReturnMode

enum RadarReturnMode

strong

The mode used when determining what data the radar should return.

Enumerator
RETURN	raw data mode
TRACK	object tracking mode

RayType

enum RayType

Ray types, used to determine the shading and miss functions for populating ray information.

Enumerator
SHADOW_RAY_TYPE	camera rays
LIDAR_RAY_TYPE	shadow rays
RADAR_RAY_TYPE	lidar rays
SEGMENTATION_RAY_TYPE	radar rays
DEPTH_RAY_TYPE	semantic camera rays

Function Documentation

GetShaderFromFile()

CH_SENSOR_API void chrono::sensor::GetShaderFromFile	(	OptixDeviceContext	context,
		OptixModule &	module,
		const std::string &	file_name,
		OptixModuleCompileOptions &	module_compile_options,
		OptixPipelineCompileOptions &	pipeline_compile_options
	)

launches ray generation program

Parameters

context	optix device context
module	optix module that will be created
file_name	the file where the shader program is implemented
module_compile_options	compile options for the module
pipeline_compile_options	compile options for the pipeline

LoadByteImage()

CH_SENSOR_API ByteImageData chrono::sensor::LoadByteImage

(

const std::string &

filename

)

loads image to struct ByteImageData, returns an empty struct with 0 values if loading failed

Parameters

filename