GCC Code Coverage Report

chrono_batch_render/
Coverage:
low: ≥ 0%
medium: ≥ 75.0%
high: ≥ 90.0%
Lines:
184 / 194
94.8%
Branches:
279 / 300
93.0%
Functions:
10 / 10
100.0%
sensor_pipeline/node.cpp
Line Branch Exec Source
1 // SPDX-License-Identifier: BSD-3-Clause
2 #include "chrono_batch_render/sensor_pipeline/node.h"
3
4 #include <algorithm>
5
6 #include "chrono_batch_render/graph/library.h"
7 #include "chrono_batch_render/util/error.h"
8
9 namespace chrono::batch_render::sensor_pipeline {
10
11 namespace {
12
13 778 void Validate(const NodeDef& def) {
14
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 778 switch (def.kind) {
15 82 case NodeKind::Source:
16
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 82 if (!def.inputs.empty()) {
17
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 ✗ throw Error("Pipeline node {} is a source, so it takes no signal inputs", def.id);
18 }
19 break;
20 131 case NodeKind::Stencil:
21
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 131 if (def.inputs.empty() || def.radius > kMostStencilRadius) {
22 ✗ throw Error(
23 "Pipeline node {} is a stencil, so it needs a signal input and a radius up to {}",
24
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 ✗ def.id, kMostStencilRadius);
25 }
26 break;
27 35 case NodeKind::Reduce:
28
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 35 if (def.inputs.empty() || def.outputs.size() != 1 ||
29
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 70 def.outputs[0].type != SignalType::CaptureStat || def.layout != LayoutRule::Stat) {
30 ✗ throw Error("Pipeline node {} is a reduction, so it takes a signal and outputs one "
31 "CaptureStat laid out per capture",
32
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 ✗ def.id);
33 }
34 break;
35 46 case NodeKind::Global:
36
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 46 if (def.inputs.size() != 1 || def.outputs.size() != 1 || def.passes == 0 ||
37
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 46 def.inputs[0].type != def.outputs[0].type) {
38 ✗ throw Error("Pipeline node {} is global, so it takes one signal and outputs one of the "
39 "same type over one or more passes",
40
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 ✗ def.id);
41 }
42 break;
43 case NodeKind::Point:
44 case NodeKind::Compact:
45 break;
46 }
47
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 778 if (!def.state.empty() && def.kind != NodeKind::Point) {
48
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 ✗ throw Error("Pipeline node {} keeps state, which only point nodes do for now", def.id);
49 }
50
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 1022 for (const UniformDef& uniform : def.uniforms) {
51
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 244 if (std::ranges::find(uniform.allowed, uniform.fallback) == uniform.allowed.end()) {
52 ✗ throw Error("Pipeline node {}'s uniform {} falls back to {}, which it doesn't allow",
53
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 ✗ def.id, uniform.name, uniform.fallback);
54 }
55 }
56 778 }
57
58 9508 graph::Published<NodeRegistry>& Registry() {
59
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 9514 static graph::Published<NodeRegistry> registered(BuiltinNodes());
60 9508 return registered;
61 }
62
63 }
64
65 778 uint32_t NodeRegistry::Add(NodeDef def) {
66 778 Validate(def);
67 778 const auto found = m_ids.find(def.id);
68
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 778 if (found != m_ids.end()) {
69 3 m_defs[found->second] = std::move(def);
70 3 return found->second;
71 }
72 775 const auto index = uint32_t(m_defs.size());
73 775 m_ids.emplace(def.id, index);
74 775 m_defs.push_back(std::move(def));
75 775 return index;
76 }
77
78 631 uint32_t NodeRegistry::Find(std::string_view id) const {
79 1262 const auto found = m_ids.find(std::string(id));
80
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 1252 return found == m_ids.end() ? kNoDef : found->second;
81 }
82
83 9498 std::shared_ptr<const NodeRegistry> SensorPipelineNodes() {
84 9498 return Registry().Get();
85 }
86
87 10 void RegisterSensorPipelineNode(NodeDef def) {
88
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 20 Registry().Update([&](NodeRegistry& nodes) { nodes.Add(std::move(def)); });
89 10 }
90
91 7 const NodeRegistry& BuiltinNodes() {
92 6 static const NodeRegistry registry = [] {
93 6 NodeRegistry builtins;
94
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 6 RegisterBuiltinNodes(builtins);
95 6 return builtins;
96
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 7 }();
97 7 return registry;
98 }
99
100 23 void RegisterBuiltinNodes(NodeRegistry& registry) {
101
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 115 registry.Add({.id = "CameraSignal",
102 .kind = NodeKind::Source,
103
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 23 .outputs = {{"electronRate", SignalType::ElectronRate}},
104
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 23 .uniforms = {{"layout", {"full", "mosaic"}, "full"},
105 {"precision", {"float", "half"}, "float"}},
106 .layout = LayoutRule::Detector});
107
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 184 registry.Add({.id = "Integrate",
108
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 23 .inputs = {{"electronRate", SignalType::ElectronRate}},
109
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 23 .outputs = {{"electrons", SignalType::Electrons}},
110
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 23 .parameters = {{"time", 1, {0}}},
111
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 23 .code = {.module = kCameraNodes, .type = "IntegrateNode"}});
112
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 276 registry.Add({.id = "Emva1288",
113
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 23 .inputs = {{"electrons", SignalType::Electrons}},
114
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 23 .outputs = {{"electrons", SignalType::Electrons}},
115
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 23 .parameters = {{"time", 1, {0}}},
116
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 23 .uniforms = {{"shot", {"poisson", "gaussian", "off"}, "poisson"},
117 {"fixedPatterns", {"false", "true"}, "true"},
118 {"clipping", {"clip", "none"}, "clip"}},
119
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 23 .code = {.module = kCameraNodes, .type = "Emva1288Node"}});
120
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 115 registry.Add({.id = "Adc",
121
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 23 .inputs = {{"electrons", SignalType::Electrons}},
122
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 23 .outputs = {{"digital", SignalType::Digital}},
123
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 23 .code = {.module = kCameraNodes, .type = "AdcNode"}});
124
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 184 registry.Add({.id = "Gain",
125
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 23 .inputs = {{"digital", SignalType::Digital}},
126
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 23 .outputs = {{"digital", SignalType::Digital}},
127
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 23 .parameters = {{"gain", 1, {1}}},
128
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 23 .code = {.module = kCameraNodes, .type = "GainNode"}});
129
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 115 registry.Add({.id = "ToColor",
130
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 23 .inputs = {{"digital", SignalType::Digital}},
131
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 23 .outputs = {{"color", SignalType::LinearColor}},
132 .layout = LayoutRule::Color,
133
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 23 .code = {.module = kCameraNodes, .type = "ToColorNode"}});
134
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 161 registry.Add({.id = "Encode",
135
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 23 .inputs = {{"color", SignalType::LinearColor}},
136
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 23 .outputs = {{"display", SignalType::DisplayColor}},
137
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 23 .uniforms = {{"transfer", {"srgb", "rec709"}, "srgb"}},
138
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 23 .code = {.module = kCameraNodes, .type = "EncodeNode"}});
139
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 161 registry.Add({.id = "Demosaic",
140 .kind = NodeKind::Stencil,
141
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 23 .inputs = {{"digital", SignalType::Digital}},
142
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 23 .outputs = {{"digital", SignalType::Digital}},
143
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 23 .uniforms = {{"method", {"bilinear", "malvar"}, "bilinear"}},
144 .radius = 2,
145 .layout = LayoutRule::FullChannels,
146
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 23 .code = {.module = kIspNodes, .type = "DemosaicNode"}});
147
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 184 registry.Add({.id = "GaussianPsf",
148 .kind = NodeKind::Stencil,
149
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 23 .inputs = {{"electronRate", SignalType::ElectronRate}},
150
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 23 .outputs = {{"electronRate", SignalType::ElectronRate}},
151
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 23 .parameters = {{"sigma", 1, {0.7f}}},
152 .radius = 3,
153
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 23 .code = {.module = kIspNodes, .type = "GaussianPsfNode"}});
154
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 276 registry.Add(
155 23 {.id = "DiffractionPsf",
156 .kind = NodeKind::Stencil,
157
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 23 .inputs = {{"electronRate", SignalType::ElectronRate}},
158
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 23 .outputs = {{"electronRate", SignalType::ElectronRate}},
159
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 23 .parameters = {{"fNumber", 1, {2.8f}}, {"wavelength", 1, {550}}, {"pixelPitch", 1, {3}}},
160 .radius = kMostStencilRadius,
161
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 23 .code = {.module = kIspNodes, .type = "DiffractionPsfNode"}});
162
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 230 registry.Add({.id = "Glare",
163 .kind = NodeKind::Global,
164
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 23 .inputs = {{"electronRate", SignalType::ElectronRate}},
165
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 23 .outputs = {{"electronRate", SignalType::ElectronRate}},
166
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 23 .parameters = {{"sigma", 1, {8}}, {"strength", 1, {0.04f}}},
167 .passes = 3,
168
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 23 .code = {.module = kIspNodes, .type = "GlareNode"}});
169
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 184 registry.Add({.id = "Blooming",
170 .kind = NodeKind::Global,
171
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 23 .inputs = {{"electrons", SignalType::Electrons}},
172
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 23 .outputs = {{"electrons", SignalType::Electrons}},
173
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 23 .parameters = {{"reach", 1, {32}, ParameterType::Int}},
174
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 23 .code = {.module = kIspNodes, .type = "BloomingNode"}});
175
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 230 registry.Add({.id = "Denoise",
176 .kind = NodeKind::Stencil,
177
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 23 .inputs = {{"color", SignalType::LinearColor}},
178
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 23 .outputs = {{"color", SignalType::LinearColor}},
179
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 23 .parameters = {{"sigmaSpace", 1, {1}}, {"sigmaRange", 1, {0.05f}}},
180 .radius = 2,
181
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 23 .code = {.module = kIspNodes, .type = "DenoiseNode"}});
182
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 184 registry.Add({.id = "Vignette",
183
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 23 .inputs = {{"electronRate", SignalType::ElectronRate}},
184
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 23 .outputs = {{"electronRate", SignalType::ElectronRate}},
185
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 23 .parameters = {{"strength", 1, {0.3f}}},
186
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 23 .code = {.module = kIspNodes, .type = "VignetteNode"}});
187
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 115 registry.Add({.id = "BlackLevel",
188
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 23 .inputs = {{"digital", SignalType::Digital}},
189
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 23 .outputs = {{"digital", SignalType::Digital}},
190
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 23 .code = {.module = kIspNodes, .type = "BlackLevelNode"}});
191
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 207 registry.Add(
192 23 {.id = "WhiteBalance",
193
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 23 .inputs = {{"color", SignalType::LinearColor}, {"stat", SignalType::CaptureStat, true}},
194
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 23 .outputs = {{"color", SignalType::LinearColor}},
195
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 23 .parameters = {{"gains", 3, {1, 1, 1}}},
196
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 23 .code = {.module = kIspNodes, .type = "WhiteBalanceNode"}});
197
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 230 registry.Add({.id = "Meter",
198 .kind = NodeKind::Reduce,
199
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 23 .inputs = {{"color", SignalType::LinearColor}},
200
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 23 .outputs = {{"stat", SignalType::CaptureStat}},
201
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 23 .parameters = {{"radius", 1, {0.3f}}},
202
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 23 .uniforms = {{"mode", {"average", "centerWeighted", "spot"}, "average"}},
203 .layout = LayoutRule::Stat,
204
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 23 .code = {.module = kIspNodes, .type = "MeterNode"}});
205
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 345 registry.Add({.id = "AutoExposure",
206
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 23 .inputs = {{"color", SignalType::LinearColor}, {"stat", SignalType::CaptureStat}},
207
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 23 .outputs = {{"color", SignalType::LinearColor}},
208
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 23 .parameters = {{"target", 1, {0.18f}},
209 {"speed", 1, {0.5f}},
210 {"minGain", 1, {1.0f / 64}},
211 {"maxGain", 1, {64}}},
212 .state = {1},
213
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 23 .code = {.module = kIspNodes, .type = "AutoExposureNode"}});
214
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 276 registry.Add(
215 23 {.id = "Ccm",
216
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 23 .inputs = {{"color", SignalType::LinearColor}},
217
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 23 .outputs = {{"color", SignalType::LinearColor}},
218
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 23 .parameters = {{"red", 3, {1, 0, 0}}, {"green", 3, {0, 1, 0}}, {"blue", 3, {0, 0, 1}}},
219
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 23 .code = {.module = kIspNodes, .type = "CcmNode"}});
220
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 46 registry.Add({.id = "LidarReturns",
221 .kind = NodeKind::Source,
222
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 23 .outputs = {{"returns", SignalType::Returns}},
223 .layout = LayoutRule::Returns});
224
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 230 registry.Add({.id = "RangeNoise",
225
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 23 .inputs = {{"returns", SignalType::Returns}},
226
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 23 .outputs = {{"returns", SignalType::Returns}},
227
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 23 .parameters = {{"sigma", 1, {0.02f}}, {"sigmaPerMeter", 1, {0}}},
228
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 23 .code = {.module = kLidarNodes, .type = "RangeNoiseNode"}});
229
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 230 registry.Add({.id = "IntensityNoise",
230
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 23 .inputs = {{"returns", SignalType::Returns}},
231
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 23 .outputs = {{"returns", SignalType::Returns}},
232
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 23 .parameters = {{"sigma", 1, {0}}, {"relative", 1, {0.05f}}},
233
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 23 .code = {.module = kLidarNodes, .type = "IntensityNoiseNode"}});
234
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 230 registry.Add({.id = "Dropout",
235
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 23 .inputs = {{"returns", SignalType::Returns}},
236
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 23 .outputs = {{"returns", SignalType::Returns}},
237
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 23 .parameters = {{"threshold", 1, {0}}, {"rate", 1, {0}}},
238
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 23 .code = {.module = kLidarNodes, .type = "DropoutNode"}});
239
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 184 registry.Add({.id = "RangeQuantize",
240
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 23 .inputs = {{"returns", SignalType::Returns}},
241
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 23 .outputs = {{"returns", SignalType::Returns}},
242
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 23 .parameters = {{"step", 1, {0.01f}}},
243
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 23 .code = {.module = kLidarNodes, .type = "RangeQuantizeNode"}});
244
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 115 registry.Add({.id = "ToPointCloud",
245
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 23 .inputs = {{"returns", SignalType::Returns}},
246
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 23 .outputs = {{"cloud", SignalType::PointCloud}},
247
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 23 .code = {.module = kLidarNodes, .type = "ToPointCloudNode"}});
248
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 46 registry.Add({.id = "RadarReturns",
249 .kind = NodeKind::Source,
250
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 23 .outputs = {{"returns", SignalType::Returns}},
251 .layout = LayoutRule::Returns});
252
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 276 registry.Add({.id = "RadarNoise",
253
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 23 .inputs = {{"returns", SignalType::Returns}},
254
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 23 .outputs = {{"returns", SignalType::Returns}},
255
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 23 .parameters = {{"rangeSigma", 1, {0.05f}},
256 {"velocitySigma", 1, {0.1f}},
257 {"floor", 1, {0}}},
258
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 23 .code = {.module = kRadarNodes, .type = "RadarNoiseNode"}});
259
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 276 registry.Add({.id = "Cfar",
260 .kind = NodeKind::Stencil,
261
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 23 .inputs = {{"returns", SignalType::Returns}},
262
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 23 .outputs = {{"returns", SignalType::Returns}},
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 23 .parameters = {{"guard", 1, {1}, ParameterType::Int},
264 {"training", 1, {2}, ParameterType::Int},
265 {"falseAlarmRate", 1, {1e-3f}}},
266 .radius = kCfarRadius,
267
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 23 .code = {.module = kRadarNodes, .type = "CfarNode"}});
268
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 161 registry.Add({.id = "Tone",
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 23 .inputs = {{"color", SignalType::LinearColor}},
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 23 .outputs = {{"color", SignalType::LinearColor}},
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 23 .uniforms = {{"curve", {"none", "reinhard", "aces", "agx"}, "none"}},
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 23 .code = {.module = kIspNodes, .type = "ToneNode"}});
273 3013 }
274
275 }
276