chrono::sensor::metal_phys_cam Namespace Reference

Description

GPU (Metal compute) ports of the phys_cam_ops.cu kernels.

All image buffers are host pointers to width*height RGBA float4 pixels (Chrono's PixelHalf4 / PixelRGBDHalf4 on the non-OptiX builds).

Functions
CH_SENSOR_API bool	Available ()
	True if a Metal device is present and the phys-camera kernels compiled.
CH_SENSOR_API bool	DefocusBlur (const 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)
	Depth-driven defocus blur. More...
CH_SENSOR_API bool	Vignetting (void *buf_in_out, unsigned int img_w, unsigned int img_h, float f, float L, float G_vignet)
	Illumination falloff toward the frame corners. More...
CH_SENSOR_API bool	Aggregator (void *buf_in_out, unsigned int img_w, unsigned int img_h, float N, float t, float C, float P, const float *rgb_QEs, float G_aggregator)
	Integrate irradiance over exposure time and pixel area. More...
CH_SENSOR_API bool	Noise (void *buf_in_out, unsigned int img_w, unsigned int img_h, float t, const float *dark_currents, const float *noise_gains, const float *sigma_reads, unsigned int shot_seed, unsigned int fpn_seed, unsigned int frame)
	Shot / dark-current / read / fixed-pattern noise. More...
CH_SENSOR_API bool	ExpsrToDV (const void *buf_in, void *buf_out, unsigned int img_w, unsigned int img_h, float ISO, const float *gains, const float *biases, float gamma, int crf_type)
	Exposure -> digital value through the camera response function. More...

Function Documentation

Aggregator()

CH_SENSOR_API bool chrono::sensor::metal_phys_cam::Aggregator	(	void *	buf_in_out,
		unsigned int	img_w,
		unsigned int	img_h,
		float	N,
		float	t,
		float	C,
		float	P,
		const float *	rgb_QEs,
		float	G_aggregator
	)

Integrate irradiance over exposure time and pixel area.

Port of cuda_phys_cam_aggregator.

Parameters

N	aperture number, [1/1]
t	exposure time, [sec]
C	pixel size, [m]
P	maximum scene light amount, [lux]
rgb_QEs	3 RGB quantum efficiencies, [1/1]

DefocusBlur()

CH_SENSOR_API bool chrono::sensor::metal_phys_cam::DefocusBlur	(	const 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
	)

Depth-driven defocus blur.

Port of cuda_phys_cam_defocus_blur.

Parameters

buf_in	input RGB-D image (D = distance in the alpha slot), [m]
buf_out	output RGBA image
f	focal length, [m]
U	focus distance, [m]
N	aperture number = focal_length / aperture_diameter, [1/1]
C	length of a pixel, [m]

ExpsrToDV()

CH_SENSOR_API bool chrono::sensor::metal_phys_cam::ExpsrToDV	(	const void *	buf_in,
		void *	buf_out,
		unsigned int	img_w,
		unsigned int	img_h,
		float	ISO,
		const float *	gains,
		const float *	biases,
		float	gamma,
		int	crf_type
	)

Exposure -> digital value through the camera response function.

Port of cuda_phys_cam_expsr2dv.

Parameters

ISO	analog amplification factor, [1/1]
gains	3 proportional gains, [1/1]
biases	3 biases, [1/1]
gamma	gamma of the gamma-correction CRF
crf_type	0 gamma_correct, 1 sigmoid, 2 linear

Noise()

CH_SENSOR_API bool chrono::sensor::metal_phys_cam::Noise	(	void *	buf_in_out,
		unsigned int	img_w,
		unsigned int	img_h,
		float	t,
		const float *	dark_currents,
		const float *	noise_gains,
		const float *	sigma_reads,
		unsigned int	shot_seed,
		unsigned int	fpn_seed,
		unsigned int	frame
	)

Shot / dark-current / read / fixed-pattern noise.

Port of cuda_phys_cam_noise. curand's stream cannot be reproduced, so the two RNG streams are PCG-based: the distributions match the CUDA model, individual samples do not.

Parameters

t	exposure time, [sec]
dark_currents	3 temporal dark currents, [electrons/sec]
noise_gains	3 temporal noise gains, [1/1]
sigma_reads	3 STDs of FPN and readout noise, [electrons]
shot_seed	seed of the shot/dark noise stream
fpn_seed	seed of the FPN/read noise stream
frame	frame counter, decorrelates successive frames

Vignetting()

CH_SENSOR_API bool chrono::sensor::metal_phys_cam::Vignetting	(	void *	buf_in_out,
		unsigned int	img_w,
		unsigned int	img_h,
		float	f,
		float	L,
		float	G_vignet
	)

Illumination falloff toward the frame corners.

Port of cuda_phys_cam_vignetting.

Parameters

f	focal length, [m]
L	sensor width, [m]
G_vignet	proportional gain of illumination falloff, [1/1]