Description
Modeling and simulation of sensors.
This module provides support for modeling and simulating sensors for autonomous behavior.
For additional information, see:
- the installation guide
- the tutorials
Modules | |
| Sensors | |
| Sensor data buffers | |
| Sensor filters | |
| CUDA wrapper functions | |
| OptiX-based code | |
| Vulkan ray tracing backend | |
| Scene | |
| Utilities | |
Namespaces | |
| chrono::sensor | |
| Namespace for Chrono::Sensor. | |
Classes | |
| class | chrono::sensor::ChSensorManager |
| class for managing sensors. This is the Sensor system class. More... | |
Enumerations | |
| enum | chrono::sensor::RngUsage : unsigned int { chrono::sensor::RngUsage::Unknown = 0, chrono::sensor::RngUsage::CameraNoiseConstNormal = 1, chrono::sensor::RngUsage::CameraNoisePixDep = 2, chrono::sensor::RngUsage::LidarNoiseXYZI = 3, chrono::sensor::RngUsage::PhysCameraShotNoise = 4, chrono::sensor::RngUsage::OptixCameraRaygen = 5, chrono::sensor::RngUsage::OptixPhysCameraRaygen = 6, chrono::sensor::RngUsage::OptixSegmentationRaygen = 7, chrono::sensor::RngUsage::OptixDepthRaygen = 8, chrono::sensor::RngUsage::OptixNormalRaygen = 9, chrono::sensor::RngUsage::Count } |
| What a cuRAND buffer is used for. More... | |
Enumeration Type Documentation
◆ RngUsage
|
strong |
What a cuRAND buffer is used for.
One constant per independent random-number stream in the sensor module, and part of the key that keeps those streams from coinciding.
Closed on purpose: a new stochastic filter must add its own constant here rather than borrow or cast one. Borrowing does not corrupt the stream (two filters sharing a constant on one sensor are still separated by their per-filter stream index, see ChFilter::GetRngStreamIndex), but it makes the purpose field meaningless, which is what keeps a camera's noise independent of a lidar's. GetDeterministicSeed rejects RngUsage::Unknown and any value at or past Count.
| Enumerator | |
|---|---|
| Unknown | never seed from this; present so the enum has a defined zero |
| CameraNoiseConstNormal | |
| CameraNoisePixDep | |
| LidarNoiseXYZI | |
| PhysCameraShotNoise | ChFilterPhysCameraNoise, shot noise only; FPN keeps its own seed. |
| OptixCameraRaygen | ChFilterOptixRender, camera. |
| OptixPhysCameraRaygen | ChFilterOptixRender, physical camera. |
| OptixSegmentationRaygen | ChFilterOptixRender, segmentation camera. |
| OptixDepthRaygen | ChFilterOptixRender, depth camera. |
| OptixNormalRaygen | ChFilterOptixRender, normal camera. |
| Count | sentinel; keep last |
