├── .clang-format ├── .dockerignore ├── .githooks └── pre-commit ├── .github ├── dependabot.yml └── workflows │ ├── build-and-test.yml │ ├── load-env-subworkflow.yml │ └── test-subworkflow.yml ├── .gitignore ├── CHANGELOG.md ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Dockerfile ├── LICENSE ├── README.md ├── docs ├── AgnocastExtension.md ├── GaussianNoise.md ├── PclExtension.md ├── Ros2Extension.md ├── Usage.md ├── gif │ ├── flexible_pattern.gif │ ├── high_performance.gif │ └── pointcloud_processing.gif └── image │ ├── Angular_hitpoint_1.png │ ├── Angular_hitpoint_2.png │ ├── Angular_hitpoint_3.png │ ├── Angular_hitpoint_4.png │ ├── Angular_ray_1.png │ ├── Angular_ray_2.png │ ├── Angular_ray_3.png │ ├── Angular_ray_4.png │ ├── Distance_1.png │ ├── Distance_2.png │ ├── Distance_3.png │ ├── Distance_4.png │ ├── distance_noise_d.gif │ ├── distance_noise_sigma_base.gif │ ├── distance_noise_sigma_distance.gif │ ├── distance_noise_sigma_slope.gif │ ├── distance_stdev.gif │ ├── flexible_pipeline.png │ ├── gaussian_noise.gif │ ├── readme-example-scene.svg │ └── rgl-logo.png ├── extensions.repos ├── extensions ├── pcl │ ├── CMakeLists.txt │ ├── include │ │ └── rgl │ │ │ └── api │ │ │ └── extensions │ │ │ └── pcl.h │ ├── install_deps.py │ └── src │ │ ├── api │ │ └── apiPcl.cpp │ │ ├── graph │ │ ├── DownSamplePointsNode.cpp │ │ ├── NodesPcl.hpp │ │ ├── PCLVisualizerFix.hpp │ │ ├── RemoveGroundPointsNode.cpp │ │ └── VisualizePointsNode.cpp │ │ └── tape │ │ └── TapePcl.hpp └── ros2 │ ├── CMakeLists.txt │ ├── include │ └── rgl │ │ └── api │ │ └── extensions │ │ └── ros2.h │ ├── install_agnocast_deps.py │ ├── install_deps.py │ └── src │ ├── MessagePublisher.hpp │ ├── Ros2InitGuard.hpp │ ├── api │ └── apiRos2.cpp │ ├── graph │ ├── NodesRos2.hpp │ ├── Ros2PublishPointVelocityMarkersNode.cpp │ ├── Ros2PublishPointsNode.cpp │ ├── Ros2PublishRadarScanNode.cpp │ └── Ros2PublishRadarTracksNode.cpp │ └── tape │ └── TapeRos2.hpp ├── external └── CMakeLists.txt ├── include └── rgl │ └── api │ ├── core.h │ └── extensions │ └── tape.h ├── install_deps.py ├── ros2_standalone ├── CMakeLists.txt └── fix_ros2_humble.py ├── setup.py ├── src ├── APIObject.hpp ├── CacheManager.hpp ├── CudaEvent.hpp ├── CudaStream.hpp ├── GPUFieldDescBuilder.hpp ├── IStreamBound.hpp ├── Logger.cpp ├── Logger.hpp ├── NvtxWrappers.hpp ├── Optix.cpp ├── Optix.hpp ├── RGLExceptions.hpp ├── RGLFields.hpp ├── StreamBoundObjectsManager.hpp ├── Time.hpp ├── api │ ├── apiCommon.cpp │ ├── apiCommon.hpp │ └── apiCore.cpp ├── gpu │ ├── GPUFieldDesc.hpp │ ├── MultiReturn.hpp │ ├── RaytraceRequestContext.hpp │ ├── ShaderBindingTableTypes.h │ ├── gaussianNoiseKernels.cu │ ├── gaussianNoiseKernels.hpp │ ├── helpersKernels.cu │ ├── helpersKernels.hpp │ ├── kernelUtils.hpp │ ├── nodeKernels.cu │ ├── nodeKernels.hpp │ ├── optixPrograms.cu │ ├── optixProgramsPtx.hpp │ ├── sceneKernels.cu │ └── sceneKernels.hpp ├── graph │ ├── CompactByFieldPointsNode.cpp │ ├── FilterGroundPointsNode.cpp │ ├── FormatPointsNode.cpp │ ├── FromArrayPointsNode.cpp │ ├── FromMat3x4fRaysNode.cpp │ ├── GaussianNoiseAngularHitpointNode.cpp │ ├── GaussianNoiseAngularRayNode.cpp │ ├── GaussianNoiseDistanceNode.cpp │ ├── GraphRunCtx.cpp │ ├── GraphRunCtx.hpp │ ├── Interfaces.hpp │ ├── Node.cpp │ ├── Node.hpp │ ├── NodesCore.hpp │ ├── RadarPostprocessPointsNode.cpp │ ├── RadarTrackObjectsNode.cpp │ ├── RaytraceNode.cpp │ ├── SetRangeRaysNode.cpp │ ├── SetRaysRingIdsRaysNode.cpp │ ├── SetTimeOffsetsRaysNode.cpp │ ├── SpatialMergePointsNode.cpp │ ├── TemporalMergePointsNode.cpp │ ├── TransformPointsNode.cpp │ ├── TransformRaysNode.cpp │ └── YieldPointsNode.cpp ├── macros │ ├── checkRGL.hpp │ ├── cuda.hpp │ ├── dataDeclspec.hpp │ ├── handleDestructorException.hpp │ ├── iteration.hpp │ └── optix.hpp ├── math │ ├── Aabb.h │ ├── Mat3x4f.hpp │ ├── RunningStats.hpp │ ├── Vector.hpp │ └── floatComparison.hpp ├── memory │ ├── Array.hpp │ ├── ArrayImpl.inl │ ├── DeviceArray.inl │ ├── DeviceAsyncArray.inl │ ├── DeviceSyncArray.inl │ ├── HostArray.inl │ ├── HostPageableArray.inl │ ├── HostPinnedArray.inl │ ├── IAnyArray.hpp │ ├── InvalidArrayCast.hpp │ ├── MemoryKind.hpp │ ├── MemoryOperations.hpp │ └── README.md ├── repr.hpp ├── returnModeUtils.h ├── scene │ ├── ASBuildScratchpad.cpp │ ├── ASBuildScratchpad.hpp │ ├── BoneWeights.hpp │ ├── Entity.cpp │ ├── Entity.hpp │ ├── GASBuilder.hpp │ ├── Mesh.cpp │ ├── Mesh.hpp │ ├── Scene.cpp │ ├── Scene.hpp │ ├── Texture.cpp │ ├── Texture.hpp │ └── animator │ │ ├── ExternalAnimator.cpp │ │ ├── ExternalAnimator.hpp │ │ ├── SkeletonAnimator.cpp │ │ └── SkeletonAnimator.hpp ├── tape │ ├── PlaybackState.cpp │ ├── PlaybackState.hpp │ ├── TapeCall.hpp │ ├── TapeCore.hpp │ ├── TapePlayer.cpp │ ├── TapePlayer.hpp │ ├── TapeRecorder.cpp │ ├── TapeRecorder.hpp │ └── tapeDefinitions.hpp └── typingUtils.hpp ├── test ├── CMakeLists.txt ├── data │ └── reflector2d.stl ├── include │ ├── helpers │ │ ├── commonHelpers.hpp │ │ ├── fieldGenerators.hpp │ │ ├── fileHelpers.hpp │ │ ├── geometryData.hpp │ │ ├── graphHelpers.hpp │ │ ├── lidarHelpers.hpp │ │ ├── mathHelpers.hpp │ │ ├── sceneHelpers.hpp │ │ ├── testPointCloud.hpp │ │ └── textureHelpers.hpp │ └── stl_reader.h ├── src │ ├── TapeTest.cpp │ ├── apiGeneralCallsTest.cpp │ ├── apiReadmeExample.cpp │ ├── externalLibraryTest.cpp │ ├── graph │ │ ├── DistanceFieldTest.cpp │ │ ├── LidarVisibilityTest.cpp │ │ ├── MaskRaysTest.cpp │ │ ├── Ros2NodesTest.cpp │ │ ├── VelocityDistortionTest.cpp │ │ ├── addChildTest.cpp │ │ ├── asyncStressTest.cpp │ │ ├── fullLinearTest.cpp │ │ ├── gaussianPoseIndependentTest.cpp │ │ ├── gaussianStressTest.cpp │ │ ├── getResultTest.cpp │ │ ├── multiReturnTest.cpp │ │ ├── nodeInputImpactTest.cpp │ │ ├── nodeRemovalTest.cpp │ │ ├── nodes │ │ │ ├── CompactByFieldPointsNodeTest.cpp │ │ │ ├── FilterGroundPointsNodeTest.cpp │ │ │ ├── FormatPointsNodeTest.cpp │ │ │ ├── FromArrayPointsNodeTest.cpp │ │ │ ├── FromMat3x4fRaysNodeTest.cpp │ │ │ ├── GaussianNoiseAngularHitpointNodeTest.cpp │ │ │ ├── GaussianNoiseAngularRayNodeTest.cpp │ │ │ ├── GaussianNoiseDistanceNodeTest.cpp │ │ │ ├── RadarPostprocessPointsNodeTest.cpp │ │ │ ├── RadarTrackObjectsNodeTest.cpp │ │ │ ├── RaytraceNodeTest.cpp │ │ │ ├── Ros2PublishPointsNodeTest.cpp │ │ │ ├── Ros2PublishRadarScanNodeTest.cpp │ │ │ ├── SetRingIdsRaysNodeTest.cpp │ │ │ ├── SetTimeOffsetsRaysNodeTest.cpp │ │ │ ├── SpatialMergePointsNodeTest.cpp │ │ │ ├── TemporalMergePointsNodeTest.cpp │ │ │ ├── TransformPointsNodeTest.cpp │ │ │ ├── TransformRaysNodeTest.cpp │ │ │ ├── VisualizePointsNodeTest.cpp │ │ │ └── YieldPointsNodeTest.cpp │ │ └── setPriorityTest.cpp │ ├── helpers │ │ └── pointsTest.cpp │ ├── memory │ │ ├── arrayChangeStreamTest.cpp │ │ ├── arrayOpsTest.cpp │ │ └── arrayTypingTest.cpp │ ├── scene │ │ ├── animationVelocityTest.cpp │ │ ├── entityAPITest.cpp │ │ ├── entityIdTest.cpp │ │ ├── entityLaserRetroTest.cpp │ │ ├── entityVelocityTest.cpp │ │ ├── incidentAngleTest.cpp │ │ ├── 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