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)

const std::string &	chrono::sensor::GetSensorShaderDir ()

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

Description

Classes

Macros

Enumerations

Functions

Macro Definition Documentation

◆ CUDA_ERROR_CHECK

◆ OPTIX_ERROR_CHECK

Enumeration Type Documentation

◆ BackgroundMode

◆ CameraLensModelType

◆ LidarBeamShape

◆ PipelineType

◆ RadarReturnMode

◆ RayType

Function Documentation

◆ GetShaderFromFile()

◆ LoadByteImage()