drake::geometry::render Namespace Reference

Namespaces
namespace	shaders

Classes
class	ClippingRange
	Defines the near and far clipping planes for frustum-based (OpenGL) RenderEngine cameras. More...
class	ColorRenderCamera
	Collection of camera properties for cameras to be used with color/label images. More...
class	DepthRange
	Defines a depth sensor's functional range. More...
class	DepthRenderCamera
	Collection of camera properties for cameras to be used with depth images. More...
struct	LightParameter
	Light parameter for supporting RenderEngine implementations. More...
class	RenderCameraCore
	Collection of core parameters for modeling a pinhole-model camera in a RenderEngine. More...
class	RenderEngine
	The engine for performing rasterization operations on geometry. More...
class	RenderLabel
	Class representing object "labels" for rendering. More...

Enumerations
enum class	LightType { kPoint = 1 , kSpot = 2 , kDirectional = 3 }
	Specification of the type of light. More...
enum class	LightFrame { kWorld = 0 , kCamera = 1 }
	Specifies the frame in which a light is fixed. More...

Functions
void	ColorizeLabelImage (const systems::sensors::ImageLabel16I &input, systems::sensors::ImageRgba8U *output, const Rgba &background_color=Rgba{0, 0, 0, 0})
	Colorizes an input label image into an output color image using a fixed palette.
std::string_view	to_string (const LightType &t)
	Returns the LightType as a string.
LightType	light_type_from_string (const std::string &spec)
	Instantiates a LightType from its string representation.
std::string_view	to_string (const LightFrame &f)
	Returns the LightFrame as a string.
LightFrame	light_frame_from_string (const std::string &spec)
	Instantiates a LightFrame from its string representation.

Enumeration Type Documentation

LightFrame

enum class LightFrame

strong

Specifies the frame in which a light is fixed.

Fixing the camera to the world keeps it stationary. Fixing it to the camera moves it with the camera.

Enumerator
kWorld
kCamera

LightType

enum class LightType

strong

Specification of the type of light.

• kPoint: a punctual light source emitting light in all directions.
• kSpot: A conical light source emitting light from a point into a limited set of directions.
• kDirectional: a light source, infinitely far away, casting parallel rays of light (like a sun).

Enumerator
kPoint
kSpot
kDirectional

Function Documentation

ColorizeLabelImage()

void ColorizeLabelImage	(	const systems::sensors::ImageLabel16I &	input,
		systems::sensors::ImageRgba8U *	output,
		const Rgba &	background_color = Rgba{0, 0, 0, 0} )

Colorizes an input label image into an output color image using a fixed palette.

Non-reserved labels (user-assigned values) are mapped to colors from a built-in palette. Reserved labels (empty, don't care, etc.) are mapped to background_color.

Parameters

	input	The input label image.
[out]	output	The image the colorized image will be written to. It will be resized to match input as necessary and its contents will be completely overwritten.
	background_color	The color to use for all reserved label values.

Precondition

output != nullptr.

light_frame_from_string()

LightFrame light_frame_from_string

(

const std::string &

spec

)

Instantiates a LightFrame from its string representation.

Parameters

spec	Must be one of 'world' or 'camera'.

Exceptions

if	spec is an unrecognized string.

light_type_from_string()

LightType light_type_from_string

(

const std::string &

spec

)

Instantiates a LightType from its string representation.

Parameters

spec	Must be one of 'point', 'spot', or 'directional'.

Exceptions

if	spec is an unrecognized string.

to_string() [1/2]

std::string_view to_string

(

const LightFrame &

f

)

Returns the LightFrame as a string.

to_string() [2/2]

std::string_view to_string

(

const LightType &

t

)

Returns the LightType as a string.