Drake
RgbdRendererTest< Renderer > Class Template Reference

#include <drake/systems/sensors/test/rgbd_renderer_test_util.h>

Inheritance diagram for RgbdRendererTest< Renderer >:
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Collaboration diagram for RgbdRendererTest< Renderer >:
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Public Member Functions

 RgbdRendererTest ()
 

Protected Member Functions

void Render ()
 
void VerifyUniformColor (const sensors::ColorI &pixel, int alpha)
 
void VerifyUniformLabel (int16_t label)
 
void VerifyUniformDepth (float depth)
 
void VerifyOutliers ()
 
void Init (const Eigen::Isometry3d &X_WC, bool add_terrain=false)
 

Protected Attributes

const int kWidth = 640
 
const int kHeight = 480
 
const double kZNear = 0.5
 
const double kZFar = 5.
 
const double kFovY = M_PI_4
 
const bool kShowWindow = RenderingConfig::kDefaultShowWindow
 
const double kColorPixelTolerance = 1.001
 
const double kDepthTolerance = 1.1e-4
 
const sensors::ColorI kDefaultVisualColor = {179u, 179u, 179u}
 
const float kDefaultDistance {3.f}
 
const ScreenCoord kInlier = {320, 240}
 
const std::array< ScreenCoord, 4 > kOutliers
 
ImageRgba8U color_
 
ImageDepth32F depth_
 
ImageLabel16I label_
 
Eigen::Isometry3d X_WC_
 
std::unique_ptr< RgbdRendererrenderer_
 

Constructor & Destructor Documentation

RgbdRendererTest ( )
inline

Member Function Documentation

void Init ( const Eigen::Isometry3d &  X_WC,
bool  add_terrain = false 
)
inlineprotected
void Render ( )
inlineprotected
void VerifyOutliers ( )
inlineprotected

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void VerifyUniformColor ( const sensors::ColorI pixel,
int  alpha 
)
inlineprotected

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void VerifyUniformDepth ( float  depth)
inlineprotected
void VerifyUniformLabel ( int16_t  label)
inlineprotected

Member Data Documentation

ImageRgba8U color_
protected
ImageDepth32F depth_
protected
const double kColorPixelTolerance = 1.001
protected
const float kDefaultDistance {3.f}
protected
const sensors::ColorI kDefaultVisualColor = {179u, 179u, 179u}
protected
const double kDepthTolerance = 1.1e-4
protected
const double kFovY = M_PI_4
protected
const int kHeight = 480
protected
const ScreenCoord kInlier = {320, 240}
protected
const std::array<ScreenCoord, 4> kOutliers
protected
Initial value:
{{
{10, 10}, {10, 470}, {630, 10}, {630, 470}}}
const bool kShowWindow = RenderingConfig::kDefaultShowWindow
protected
const int kWidth = 640
protected
const double kZFar = 5.
protected
const double kZNear = 0.5
protected
ImageLabel16I label_
protected
std::unique_ptr<RgbdRenderer> renderer_
protected
Eigen::Isometry3d X_WC_
protected

The documentation for this class was generated from the following file: