Description

Collaboration diagram for CUDA Wrapper Functions:

Functions
void	chrono::sensor::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	chrono::sensor::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	chrono::sensor::init_random_states (unsigned int seed, curandState_t *rng_states, int n_generators)
	Device function for initialing random values for cuRAND. More...

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

void	chrono::sensor::cuda_grayscale (void bufRGBA, void bufOut, int width, int height, CUstream &stream)
	RGB 8 bpp image of uchar to greyscale image conversion. More...

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

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

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

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

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

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

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

void	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::preprocess_RGBA8_to_FLOAT3 (void bufIn, void bufOut, int h, int w)
	Function that converts uchar RGBA8 image to float3 image. More...

void	chrono::sensor::preprocess_RGBA8_to_FLOAT4 (void bufIn, void bufOut, int num_entries)
	Function that converts uchar RGBA8 image to float4 image. More...

void	chrono::sensor::postprocess_FLOAT4_to_RGBA8 (void bufIn, void bufOut, int num_entries)
	Function that converts float4 image to uchar RGBA8 image. More...

void	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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	chrono::sensor::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...

Function Documentation

◆ cuda_camera_exposure_correct()

void chrono::sensor::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.

Parameters

bufPtr	A uchar (values 0-255) pointer to device memory where the image is stored. Memory assumed to be row major and contiguous. (Flat array representing image).
width	The width of the image in pixels.
height	The height of the image in pixels.
a	The proportional term to modify the image brightness
a1	The coefficient of mean exposure value of original synthetic image
b	The constant term to modify the image brightness.
b1	The coefficient of mean exposure value of original synthetic image
stream	The cuda stream for the kernel launch

◆ cuda_camera_noise_const_normal()

void chrono::sensor::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.

Parameters

bufPtr	A uchar (values 0-255) pointer to device memory where the image is stored. Memory assumed to be row major and contiguous. (Flat array representing image).
width	The width of the image in pixels.
height	The height of the image in pixels.
mean	The mean of the Gaussian distribution to be sampled.
stdev	The standard deviation of the distribution to be sampled.
rng	The states to be randomly generated
stream	The cuda stream for the kernel launch

◆ cuda_camera_noise_pixel_dependent()

void chrono::sensor::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.

Parameters

bufPtr	A uchar (values 0-255) pointer to device memory where the image is stored. Memory assumed to be row major and contiguous. (Flat array representing image).
width	The width of the image in pixels.
height	The height of the image in pixels.
variance_slope	The variance of multiplicative noise to be sampled.
variance_intercept	The variance of additive noise to be sampled.
rng	The states to be randomly generated
stream	The cuda stream for the kernel launch

◆ cuda_depth_to_uchar4()

void chrono::sensor::cuda_depth_to_uchar4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from float depth value to uchar4.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ cuda_grayscale()

void chrono::sensor::cuda_grayscale	(	void *	bufRGBA,
		void *	bufOut,
		int	width,
		int	height,
		CUstream &	stream
	)

RGB 8 bpp image of uchar to greyscale image conversion.

Parameters

bufRGBA	The input buffer of RGBA data in uchar format (8 bpp)
bufOut	A pointer to the output buffer where greyscale data will be held (8 bpp)
width	The width of the image
height	The height of the image
stream	The cuda stream for the kernel

◆ cuda_image_alias()

void chrono::sensor::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.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w_out	The output image width.
h_out	The output image height.
factor	The reduction factor per dimension.
pix_size	Size of a pixel (number of channels).
stream	cuda stream for computation

◆ cuda_image_alias_float()

void chrono::sensor::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.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w_out	The output image width.
h_out	The output image height.
factor	The reduction factor per dimension.
pix_size	Size of a pixel (number of channels).
stream	cuda stream for computation

◆ cuda_image_alias_rgba16()

void chrono::sensor::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.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w_out	The output image width.
h_out	The output image height.
factor	The reduction factor per dimension.
channel_num	number of channels.
stream	cuda stream for computation

◆ cuda_image_float4_to_uchar4()

void chrono::sensor::cuda_image_float4_to_uchar4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from float4 to uchar4.

Parameters

bufIn	A device pointer to the image image.
bufOut	A device pointer to the ouput image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ cuda_image_gauss_blur_char()

void chrono::sensor::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.

Parameters

buf
w
h
c
factor
stream	cuda stream for computation

◆ cuda_image_half4_to_uchar4()

void chrono::sensor::cuda_image_half4_to_uchar4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from half4 to uchar4.

Parameters

bufIn	A device pointer to the input image.
bufOut	A device pointer to the ouput image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ cuda_image_half4_to_uint16_t4()

void chrono::sensor::cuda_image_half4_to_uint16_t4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from half4 to uint16_t4.

Parameters

bufIn	A device pointer to the input image.
bufOut	A device pointer to the ouput image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ cuda_image_RGBDhalf4_to_Half4()

void chrono::sensor::cuda_image_RGBDhalf4_to_Half4	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from RGBD half4 to RGBA half4.

Parameters

bufIn	A device pointer to the input RGBD image.
bufOut	A device pointer to the ouput RGBA image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ cuda_lidar_clip()

void chrono::sensor::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.

The performs a mean average of the data with the sample radius.

Parameters

buf	Input/output device pointer to raw lidar data. Computation will be done in-place
width	Width of the input data
height	Height of the inpute data
threshold	Intensity threshold for removing points
default_dist	Default distance to use when removing points
stream	The cuda stream used for processing the kernel

◆ cuda_lidar_dual_reduce()

void chrono::sensor::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.

The calculates the strongest and first return the data structure is [[strongest, first], [strongest, first], [strongest, first]....]

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

◆ cuda_lidar_first_reduce()

void chrono::sensor::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.

The calculates the first return within the sample radius of the beam.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

◆ cuda_lidar_mean_reduce()

void chrono::sensor::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.

The performs a mean average of the data with the sample radius.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

◆ cuda_lidar_noise_normal()

void chrono::sensor::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.

Independent for range, intensity, and angles

Parameters

bufPtr	Device pointer to depth/intensity lidar data.
width	Width of lidar data buffer.
height	Height of lidar data buffer.
stdev_range	Standard deviation for lidar range.
stdev_v_angle	Standard deviation of noise for vertical angle measurement
stdev_h_angle	Standard deviation of noise for horizontal angle measurement.
stdev_intensity	Standard deviation of noise for vertical angle measurement.
rng	The state to be randomly generated
stream	The cuda stream for the kernel launch

◆ cuda_lidar_strong_reduce()

void chrono::sensor::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.

The calculates the strongest return within the sample radius of the beam.

Parameters

bufIn	Input device pointed to raw lidar data.
bufOut	Outout device pointer for processed lidar data.
width	Width of the input data.
height	Height of the inpute data.
radius	Radius in samples of the beam to be reduced.
stream	Cuda stream for launching the kernel

◆ cuda_normal_to_uchar4()

void chrono::sensor::cuda_normal_to_uchar4	(	void *	bufIn,
		void *	bufOut,
		int	width,
		int	height,
		CUstream &	stream
	)

Conversion from normal map to RGBA uchar4.

Parameters

bufIn	A device pointer to the normal map.
bufOut	A device pointer to the ouput image.
width	The output image width [pixel].
height	The output image height [pixel].
stream	cuda stream for computation

◆ cuda_phys_cam_aggregator()

void chrono::sensor::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

Parameters

buf_in_out	A device pointer to the input/output RGBA(half4) image.
img_w	The input/output image width, [px]
img_h	The input/output image height, [px]
N	aperture number = focal_length / aperture_diameter, [1/1]
t	exposure time, [sec]
C	pixel size, [m]
P	maximum scene light amount, [lux = lm/m^2]
host_rgb_QEs	array of RGB quantum efficiencies, [1/1]
G_aggregator	proportional gain of illumination aggregation, [1/1]
stream	CUDA stream for computation

◆ cuda_phys_cam_defocus_blur()

void chrono::sensor::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

Parameters

buf_in	A device pointer to the input RGBD image.
buf_out	A device pointer to the ouput RGBA image.
img_w	The input/output image width, [px]
img_h	The input/output image height, [px]
f	focal length, [m]
U	focus distance, [m]
N	F-number (or aperture number) = focal_length / aperture_diameter, [1/1]
C	length of a pixel, [m]
G_defocus	proportional gain of defocus blur diameter, [1/1]
stream	cuda stream for computation

◆ cuda_phys_cam_expsr2dv()

void chrono::sensor::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

Parameters

buf_in	A device pointer to the input RGBA(Half4) buffer.
buf_out	A device pointer to the ouput RGBA16 buffer.
img_w	The input/output image width, [px]
img_h	The input/output image height, [px]
ISO	(ISO) analog amplification factor, [1/1]
host_gains	array of proportional gains, [1/1]
host_biases	array of biases or intercepts, [1/1]
gamma	gamma of the gamma correction function if used, [DV]
crf_type	type of the camera response function (CRF), 0: "gamma_correct", 1: "sigmoid"
stream	CUDA stream for computation

◆ cuda_phys_cam_noise()

void chrono::sensor::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

Parameters

buf_in_out	A device pointer to the input/output RGBA(half4) image.
img_w	The input/output image width, [px]
img_h	The input/output image height, [px]
t	exposure time, [sec]
host_dark_cuurents	array of temporal dark currents and hot pixels, [electrons/sec]
host_noise_gains	array of noise gains for temporal noises, [1/1]
host_sigma_reads	array of STDs of FPN and readout noises, [electrons]
rng_shot	random number generator of shot, dark, and hot-pixel noises
rng_FPN	random number generator of FPN and read noises
stream	CUDA stream for computation

◆ cuda_phys_cam_vignetting()

void chrono::sensor::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

Parameters

buf_in_out	A device pointer to the input/output RGBA(half4) image.
img_w	The input/output image width, [px]
img_h	The input/output image height, [px]
f	focal length, [m]
L	sensor width, [m]
G_vignet	proportional gain of illumination falloff, [1/1]
stream	cuda stream for computation

◆ cuda_pointcloud_from_depth()

void chrono::sensor::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.

Parameters

bufDI	A device pointer to depth/intensity data from a lidar.
bufOut	A device pointer to when the point cloud data will be stored.
width	The width of the lidar data.
height	The height of the lidar data.
hfov	The horizontal field of view of the lidar.
max_v_angle	The maximun vertical fov angle of the lidar
min_v_angle	The minimum vertical fov angle for the lidar
stream	The cuda stream for the kernel

◆ cuda_pointcloud_from_depth_dual_return()

void chrono::sensor::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.

Parameters

bufDI	A device pointer to depth/intensity data from a lidar.
bufOut	A device pointer to when the point cloud data will be stored.
width	The width of the lidar data.
height	The height of the lidar data.
hfov	The horizontal field of view of the lidar.
max_v_angle	The maximun vertical fov angle of the lidar
min_v_angle	The minimum vertical fov angle for the lidar
stream	The cuda stream for the kernel

◆ cuda_RGBDhalf4_to_uchar()

void chrono::sensor::cuda_RGBDhalf4_to_uchar	(	void *	bufIn,
		void *	bufOut,
		int	w,
		int	h,
		CUstream &	stream
	)

Conversion from RGBD half4 to D-channel uchar.

Parameters

bufIn	A device pointer to the input RGBD image.
bufOut	A device pointer to the ouput R8 image.
w	The output image width.
h	The output image height.
stream	cuda stream for computation

◆ init_cuda_rng()

void chrono::sensor::init_cuda_rng	(	unsigned int	seed,
		curandState_t *	rng_states,
		int	n_generators
	)

Host function for initialing random values for cuRAND.

Parameters

seed	Random number generator seed.
rng_states	The states to be randomly generated.
n_generators	The number of random value generators we need.

◆ init_random_states()

__global__ void chrono::sensor::init_random_states	(	unsigned int	seed,
		curandState_t *	rng_states,
		int	n_generators
	)

Device function for initialing random values for cuRAND.

Parameters

seed	Random number generator seed.
rng_states	The states to be randomly generated.
n_generators	The number of random value generators we need.

◆ postprocess_FLOAT4_to_RGBA8()

void chrono::sensor::postprocess_FLOAT4_to_RGBA8	(	void *	bufIn,
		void *	bufOut,
		int	num_entries
	)

Function that converts float4 image to uchar RGBA8 image.

Parameters

bufIn	Input device pointer in float format.
bufOut	Output device pointer in uchar format.
num_entries	The number of entries in the image (chw).

◆ postprocess_FLOAT4_to_RGBA8_CHW()

void chrono::sensor::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.

Parameters

bufIn	Input device pointer in float format.
bufOut	Output device pointer in uchar format.
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.

◆ preprocess_normalize_float()

void chrono::sensor::preprocess_normalize_float	(	void *	bufIn,
		float	add,
		float	mult,
		int	c,
		int	h,
		int	w
	)

Function that normalized input data in float format.

Parameters

bufIn	Input device pointer in float format.
add
mult
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.

◆ preprocess_RGBA8_to_FLOAT3()

void chrono::sensor::preprocess_RGBA8_to_FLOAT3	(	void *	bufIn,
		void *	bufOut,
		int	h,
		int	w
	)

Function that converts uchar RGBA8 image to float3 image.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
h	The height of the image.
w	The width of the image.

◆ preprocess_RGBA8_to_FLOAT4()

void chrono::sensor::preprocess_RGBA8_to_FLOAT4	(	void *	bufIn,
		void *	bufOut,
		int	num_entries
	)

Function that converts uchar RGBA8 image to float4 image.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
num_entries	The number of entries in the image (chw).

◆ preprocess_RGBA8_to_FLOAT4_CHW()

void chrono::sensor::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.

Parameters

bufIn	Input device pointer in uchar format.
bufOut	Output device pointer in float format.
c	Number of channels in the image.
h	Height of the image.
w	Width of the image.