Description

Namespace for Chrono::Sensor.

Classes
struct	AccelData
	Accelerometer data. More...

struct	Background
	Information about the background of the scene. More...

struct	ByteImageData
	Stores image data. More...

class	ChAccelerometerSensor
	Accelerometer class. More...

class	ChCameraSensor
	Camera class. More...

class	ChDepthCamera
	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	ChFilterAccelerometerUpdate
	Class for generating IMU data. More...

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

class	ChFilterCameraExposureCorrect
	A filter that adjust the brightness of the image according to exposure time and sensitivity coefficients. 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	ChFilterDepthToRGBA8
	A filter that converts Depth values to RGBA8. 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	ChFilterGyroscopeUpdate
	Class for generating IMU data. More...

class	ChFilterImageHalf4ToRGBA16
	A filter that converts RGBA Half4 to RGBA16. More...

class	ChFilterImageHalf4ToRGBA8
	A filter that converts RGBA Float4 to RGBA8. 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	ChFilterLidarNoiseXYZI
	A filter that adds noise based on depth and intensity given data in point cloud format. More...

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

class	ChFilterNormalToRGBA8
	A filter that converts normal map to RGBA8. 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	ChFilterPhysCameraAggregator
	A filter that adjust the brightness of the image according to exposure time and sensitivity coefficients. More...

class	ChFilterPhysCameraDefocusBlur
	A filter that adjust the brightness of the image according to exposure time and sensitivity coefficients. More...

class	ChFilterPhysCameraExpsrToDV
	A filter that convert exposure to digital values with considering ISO, through camera response function (CRF) More...

class	ChFilterPhysCameraNoise
	A filter that adjust the brightness of the image according to exposure time and sensitivity coefficients. More...

class	ChFilterPhysCameraVignetting
	A filter that adjust the brightness of the image according to exposure time and sensitivity coefficients. More...

class	ChFilterRadarProcess
	A filter that, when applied to a sensor, converts the depth values to point cloud, clusters, and calculates velocity and centroid. More...

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

class	ChFilterRGBDHalf4ToImageHalf4
	A filter that converts RGB channels in RGBD Half4 to RGBA Half4. More...

class	ChFilterRGBDHalf4ToR8
	A filter that converts D-channel in RGBD Half4 to R8. 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	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...

struct	ChFsiSphRenderOptions
	Options for rendering Chrono::FSI::SPH fluid markers in Chrono::Sensor. More...

class	ChGPSSensor
	GPS class. More...

class	ChGyroscopeSensor
	Gyroscope class. More...

class	ChLidarSensor
	Lidar class. More...

class	ChMagnetometerSensor
	Magnetometer class. More...

class	ChNoiseModel
	Noise model base class. More...

class	ChNoiseNone
	Class implementing no noise model. More...

class	ChNoiseNormal
	Noise model based on a normal distribution. More...

class	ChNoiseNormalDrift
	IMU Noise model: Gaussian drifting noise with non-correlated equal distributions. More...

class	ChNoiseRandomWalks
	GPS Noise model based on Random Walks. More...

class	ChNormalCamera
	Camera class. More...

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

class	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	ChOptixPipeline
	Class to hold all the Shader Binding Table parameters adnd manage the ray tracing pipeline, materials, ray gen programs. More...

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

class	ChPhysCameraSensor
	Camera class. More...

class	ChRadarSensor
	Radar class - corresponds to a FMCW radar. More...

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

class	ChSegmentationCamera
	Camera class. More...

class	ChSensor
	Base class for a Chrono sensor. More...

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

class	ChTachometerSensor
	Tachometer class. More...

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

struct	GyroData
	Gyroscope data. More...

struct	MagnetData
	Magnetometer data. 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
	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	Transform
	Transform struct for packing a translation, rotation, and scale. More...

Typedefs
using	ChFilterAccelAccess = ChFilterAccess< SensorHostAccelBuffer, UserAccelBufferPtr >
	Access to accelerometer data.

using	ChFilterGyroAccess = ChFilterAccess< SensorHostGyroBuffer, UserGyroBufferPtr >
	Access to gyroscope data.

using	ChFilterMagnetAccess = ChFilterAccess< SensorHostMagnetBuffer, UserMagnetBufferPtr >
	Access to magnetometer data.

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

using	ChFilterTachometerAccess = ChFilterAccess< SensorHostTachometerBuffer, UserTachometerBufferPtr >
	Access to Tachometer data.

using	SensorHostAccelBuffer = SensorBufferT< std::shared_ptr< AccelData[]> >
	Accelerometer host buffer to be used by accelerometer filters in the graph.

using	UserAccelBufferPtr = std::shared_ptr< SensorHostAccelBuffer >
	Pointer to an accelerometer buffer on the host that has been moved for safety and can be given to the user.

using	SensorHostGyroBuffer = SensorBufferT< std::shared_ptr< GyroData[]> >
	Accelerometer host buffer to be used by accelerometer filters in the graph.

using	UserGyroBufferPtr = std::shared_ptr< SensorHostGyroBuffer >
	Pointer to an accelerometer buffer on the host that has been moved for safety and can be given to the user.

using	SensorHostMagnetBuffer = SensorBufferT< std::shared_ptr< MagnetData[]> >
	accelerometer host buffer to be used by accelerometer filters in the graph.

using	UserMagnetBufferPtr = std::shared_ptr< SensorHostMagnetBuffer >
	Pointer to an accelerometer buffer on the host that has been moved for safety and can be given to the user.

using	SensorHostTachometerBuffer = SensorBufferT< std::shared_ptr< TachometerData[]> >
	Tachometer host buffer to be used by tachometer filters in the graph.

using	UserTachometerBufferPtr = std::shared_ptr< SensorHostTachometerBuffer >
	Pointer to a tachometer 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.

Enumerations
enum	RngUsage : unsigned int { RngUsage::Unknown = 0, RngUsage::CameraNoiseConstNormal = 1, RngUsage::CameraNoisePixDep = 2, RngUsage::LidarNoiseXYZI = 3, RngUsage::PhysCameraShotNoise = 4, RngUsage::OptixCameraRaygen = 5, RngUsage::OptixPhysCameraRaygen = 6, RngUsage::OptixSegmentationRaygen = 7, RngUsage::OptixDepthRaygen = 8, RngUsage::OptixNormalRaygen = 9, RngUsage::Count }
	What a cuRAND buffer is used for. More...

enum	CameraNoiseModelType { CameraNoiseModelType::NONE, CameraNoiseModelType::CONST_NORMAL, CameraNoiseModelType::PIXEL_DEPENDENT }
	Camera noise model types. More...

enum	LidarNoiseModelType { LidarNoiseModelType::NONE, LidarNoiseModelType::CONST_NORMAL }
	Lidar noise model types. More...

enum	PipelineType { PipelineType::CAMERA, PipelineType::PHYS_CAMERA, PipelineType::SEGMENTATION, PipelineType::DEPTH_CAMERA, PipelineType::NORMAL_CAMERA, PipelineType::LIDAR_SINGLE, PipelineType::LIDAR_MULTI, PipelineType::RADAR }
	The type of ray tracing used to model the sensor. More...

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

Functions
void	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	cuda_camera_noise_pixel_dependent (unsigned char bufPtr, int width, int height, float variance_slope, float variance_intercept, curandState_t rng, CUstream &stream)
	Kernel for applying pixel dependent Gaussian noise to an image. More...

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

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

void	cuda_update_fsi_sph_sprite_instances (const chrono::fsi::sph::Real4 pos_rad, size_t source_count, size_t render_count, OptixInstance instances, const OptixTraversableHandle gas_handles, const unsigned int sbt_offsets, const float3 *template_scales, unsigned int num_templates, float render_particle_spacing, const ChVector3f &position_jitter, const ChVector3f &origin_offset)

void	cuda_grayscale (void bufRGBA, void bufOut, int width, int height, CUstream &stream)
	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, CUstream &stream)
	An antialiasing helper function that reduces image quality by performing mean reduction of image. More...

void	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	cuda_image_alias_rgba16 (void bufIn, void bufOut, int w_out, int h_out, int factor, int channel_num, CUstream &stream)
	An anti-aliasing helper function that reduces RGBA16 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, CUstream &stream)
	An image blurring function that reduces performs Gaussian blur. More...

void	cuda_image_half4_to_uchar4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from half4 to uchar4. More...

void	cuda_image_float4_to_uchar4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from float4 to uchar4. More...

void	cuda_image_half4_to_uint16_t4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from half4 to uint16_t4. More...

void	cuda_image_RGBDhalf4_to_Half4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from RGBD half4 to RGBA half4. More...

void	cuda_depth_to_uchar4 (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from float depth value to uchar4. More...

void	cuda_RGBDhalf4_to_uchar (void bufIn, void bufOut, int w, int h, CUstream &stream)
	Conversion from RGBD half4 to D-channel uchar. More...

void	cuda_normal_to_uchar4 (void bufIn, void bufOut, int width, int height, CUstream &stream)
	Conversion from normal map to RGBA uchar4. More...

void	cuda_camera_exposure_correct (unsigned char *bufPtr, size_t width, size_t height, float a, float a1, float b, float b1, CUstream &stream)
	Host function for applying exposure correction to an image. More...

void	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	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	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	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	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	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	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_phys_cam_defocus_blur (void buf_in, void buf_out, unsigned int img_w, unsigned int img_h, float f, float U, float N, float C, float defocus_gain, float defocus_bias, CUstream &stream)
	host function for applying defocus blur to an image based on the depth map More...

void	cuda_phys_cam_vignetting (void *buf_in_out, unsigned int img_w, unsigned int img_h, float f, float L, float G_vignet, CUstream &stream)
	host function for applying vignetting to an image based on camera control and model parameters More...

void	cuda_phys_cam_aggregator (void buf_in_out, unsigned int img_w, unsigned int img_h, float N, float t, float C, float P, float host_rgb_QEs, float G_aggregator, CUstream &stream)
	host function for applying amplification to an image, based on camera control and model parameters More...

void	cuda_phys_cam_noise (void buf_in_out, unsigned int img_w, unsigned int img_h, float t, float host_dark_cuurents, float host_noise_gains, float host_sigma_reads, curandState_t rng_shot, curandState_t rng_FPN, CUstream &stream)
	host function for applying noise model to the image, based on camera control and model parameters More...

void	cuda_phys_cam_expsr2dv (void buf_in, void buf_out, unsigned int img_w, unsigned int img_h, float ISO, float host_gains, float host_biases, float gamma, int crf_type, CUstream &stream)
	host function for converting exposure to digital values More...

void	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	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...

void	cuda_radar_angles (void bufIn, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	cuda_radar_pointcloud_from_angles (void bufIn, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	cuda_radar_pointcloud_from_depth (void bufDI, void bufOut, int width, int height, float hfov, float vfov, CUstream &stream)

void	InitCudaRNG (unsigned long long seed, curandState_t *rng_states, unsigned int n_generators)

void	CudaCameraNoiseConstNormal (unsigned char bufPtr, int width, int height, float mean, float stdev, curandState_t rng, CUstream &stream)

bool	WriteRGBA16ToBinary (const std::string &file_path, uint16_t width, uint16_t height, const void *data)
	Helper function to write an image data in RGBA 16-bit format to a binary file. More...

bool	WriteFloatToBinary (const std::string &file_path, uint16_t width, uint16_t height, const void *data)
	Helper function to write a float map (ex: depth map) to a binary file. More...

void	SetSensorShaderDir (const std::string &path)

const std::string &	GetSensorShaderDir ()

void	GetShaderFromFile (OptixDeviceContext context, OptixModule &module, const std::string &file_name, OptixModuleCompileOptions &module_compile_options, OptixPipelineCompileOptions &pipeline_compile_options)
	Launches ray generation program. More...

void	optix_log_callback (unsigned int level, const char tag, const char message, void *)

ByteImageData	LoadByteImage (const std::string &filename)
	Loads image to struct ByteImageData, returns an empty struct with 0 values if loading failed. More...

void	BuildCDFOnDevice (const ByteImageData &img, EnvironmentLightData &env_light_data)
	-— Environment light -— /// More...

ChVector3f	ChLerp (ChVector3f &a, ChVector3f &b, double x)
	Interpolate between two vectors. More...

void	Cartesian2GPS (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating Cartesian coordinates from GPS coordinates given the simulation's reference point. More...

void	GPS2Cartesian (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating GPS coordinates from Cartesian coordinates given the simulation's reference point. More...

void	Cartesian2ENU (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating East-North-Up (ENU) coordinates from Cartesian coordinates given the simulation's reference point. More...

void	ENU2Cartesian (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating Cartesian coordinates from ENU coordinates given the simulation's reference point. More...

void	GPS2ENU (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating ENU coordinates from GPS coordinates given the simulation's reference point. More...

void	ENU2GPS (ChVector3d &coords, ChVector3d &ref)
	Utility function for calculating GPS coordinates from ENU coordinates given the simulation's reference point. More...

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

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

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

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

std::shared_ptr< ChMagnetometerSensor >	ReadMagnetometerSensorJSON (const std::string &filename, std::shared_ptr< ChBody > parent, ChFrame< double > offsetPose)
	Load and return a magnetometer 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< ChNoiseModel >	CreateNoiseJSON (const Value &value)

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

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< ChNoiseModel >	CreateNoiseJSON (const rapidjson::Value &value)
	Load and return a 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...

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

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

template<class T >
T *	cudaHostMallocHelper (unsigned int size)
	Function for creating a chunk of memory that will implicitly deconstruct itself. More...

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

Variables
const char	ChFilterXYZIAccessName [] = "ChFilterXYZIAccess"
	4 channel float array (XYZ positions+intensity)

const char	ChFilterAccelAccessName [] = "ChFilterAccelAccess"
	Accelerometer data format (3 doubles total)

const char	ChFilterGyroAccessName [] = "ChFilterGyroAccess"
	Gyroscope data format (3 doubles total)

const char	ChFilterMagnetAccessName [] = "ChFilterMagnetAccess"
	Magnetometer data format (3 doubles total)

const char	ChFilterGPSAccessName [] = "ChFilterGPSAccess"
	GPS data format (4 doubles total)

const char	ChFilterTachometerAccessName [] = "ChFilterTachometerAccess"

Function Documentation

◆ BuildCDFOnDevice()

void chrono::sensor::BuildCDFOnDevice	(	const ByteImageData &	img,
		EnvironmentLightData &	env_light_data
	)

-— Environment light -— ///

Build the cumulative distribution function (CDF) for importance sampling of the environment map on the device.

Parameters

img	the environment map image data, assumed to be in RGB format with 8 bits per channel
dev_cdf_lat	device pointer to the CDF for latitude sampling, size = height x 2 Bytes, to be filled in this function
cdf_lon	device pointer to the CDF for longitude sampling, size = height x width x 2 Bytes, to be filled in this function

◆ Cartesian2ENU()

CH_SENSOR_API void chrono::sensor::Cartesian2ENU	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating East-North-Up (ENU) coordinates from Cartesian coordinates given the simulation's reference point.

Parameters

coords	The ENU coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ Cartesian2GPS()

CH_SENSOR_API void chrono::sensor::Cartesian2GPS	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating Cartesian coordinates from GPS coordinates given the simulation's reference point.

Parameters

coords	The Cartesian coordinates to be modified. This vector is modified and used as output
ref	The simulation's reference location

◆ ChLerp()

ChVector3f chrono::sensor::ChLerp	(	ChVector3f &	a,
		ChVector3f &	b,
		double	x
	)

Interpolate between two vectors.

Parameters

a	the first vector
b	the second vector
x	the interpolation factor, between 0 and 1

Returns: the interpolated vector

◆ ENU2Cartesian()

CH_SENSOR_API void chrono::sensor::ENU2Cartesian	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating Cartesian coordinates from ENU coordinates given the simulation's reference point.

Parameters

coords	The Cartesian coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ ENU2GPS()

CH_SENSOR_API void chrono::sensor::ENU2GPS	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating GPS coordinates from ENU coordinates given the simulation's reference point.

Parameters

coords	The GPS coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ GPS2Cartesian()

CH_SENSOR_API void chrono::sensor::GPS2Cartesian	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating GPS coordinates from Cartesian coordinates given the simulation's reference point.

Parameters

coords	The GPS coordinates to be modified. This vector is modified and used as output
ref	The simulation's reference location

◆ GPS2ENU()

CH_SENSOR_API void chrono::sensor::GPS2ENU	(	ChVector3d &	coords,
		ChVector3d &	ref
	)

Utility function for calculating ENU coordinates from GPS coordinates given the simulation's reference point.

Parameters

coords	The ENU coordinates to be modified. This ChVector is modified and used as output
ref	The simulation's reference location

◆ WriteFloatToBinary()

bool chrono::sensor::WriteFloatToBinary	(	const std::string &	file_path,
		uint16_t	width,
		uint16_t	height,
		const void *	data
	)

Helper function to write a float map (ex: depth map) to a binary file.

Parameters

file_path	The path string to the output file
width	The width of the image in pixels
height	The height of the image in pixels
data	A pointer to the image data in float format

Returns: true if the file was successfully written, false otherwise

◆ WriteRGBA16ToBinary()

bool chrono::sensor::WriteRGBA16ToBinary	(	const std::string &	file_path,
		uint16_t	width,
		uint16_t	height,
		const void *	data
	)

Helper function to write an image data in RGBA 16-bit format to a binary file.

Parameters

file_path	The path string to the output file
width	The width of the image in pixels
height	The height of the image in pixels
data	A pointer to the image data in RGBA 16-bit format (uint16_t)

Returns: true if the file was successfully written, false otherwise

Description

Classes

Typedefs

Enumerations

Functions

Variables

Function Documentation

◆ BuildCDFOnDevice()

◆ Cartesian2ENU()

◆ Cartesian2GPS()

◆ ChLerp()

◆ ENU2Cartesian()

◆ ENU2GPS()

◆ GPS2Cartesian()

◆ GPS2ENU()

◆ WriteFloatToBinary()

◆ WriteRGBA16ToBinary()