Classes
class	Accelerometer
	Sensor to represent an ideal accelerometer sensor. More...

class	BeamModel
	Implements the "Beam Models of Range Finders" from section 6.3 of Probabilistic Robotics (2006), by Thrun, Burgard, and Fox. More...

class	CameraInfo
	Simple class for characterizing the Drake camera model. More...

struct	Color
	Holds r, g, b values to represent a color pixel. More...

class	ColorPalette
	Creates and holds a palette of colors for visualizing different objects in a scene (the intent is for a different color to be applied to each identified object). More...

class	Gyroscope
	Sensor to represent an ideal gyroscopic sensor. More...

class	Image
	Simple data format for Image. More...

class	ImageToLcmImageArrayT
	An ImageToLcmImageArrayT takes as input an ImageRgba8U, ImageDepth32F and ImageLabel16I. More...

struct	ImageTraits
	Traits class for Image, specialized by PixelType. More...

struct	ImageTraits< PixelType::kBgr8U >

struct	ImageTraits< PixelType::kBgra8U >

struct	ImageTraits< PixelType::kDepth16U >

struct	ImageTraits< PixelType::kDepth32F >

struct	ImageTraits< PixelType::kExpr >

struct	ImageTraits< PixelType::kGrey8U >

struct	ImageTraits< PixelType::kLabel16I >

struct	ImageTraits< PixelType::kRgb8U >

struct	ImageTraits< PixelType::kRgba8U >

class	ImageWriter
	A system for periodically writing images to the file system. More...

class	LcmImageArrayToImages
	An LcmImageArrayToImages takes as input an AbstractValue containing a `Value<lcmt_image_array>` LCM message that defines an array of images (lcmt_image). More...

struct	LcmImageTraits

struct	LcmImageTraits< PixelType::kBgr8U >

struct	LcmImageTraits< PixelType::kBgra8U >

struct	LcmImageTraits< PixelType::kDepth16U >

struct	LcmImageTraits< PixelType::kDepth32F >

struct	LcmImageTraits< PixelType::kGrey8U >

struct	LcmImageTraits< PixelType::kLabel16I >

struct	LcmImageTraits< PixelType::kRgb8U >

struct	LcmImageTraits< PixelType::kRgba8U >

struct	LcmPixelTraits

struct	LcmPixelTraits< PixelFormat::kBgr >

struct	LcmPixelTraits< PixelFormat::kBgra >

struct	LcmPixelTraits< PixelFormat::kDepth >

struct	LcmPixelTraits< PixelFormat::kGrey >

struct	LcmPixelTraits< PixelFormat::kLabel >

struct	LcmPixelTraits< PixelFormat::kRgb >

struct	LcmPixelTraits< PixelFormat::kRgba >

class	OptitrackLcmFrameSender
	The system has one abstract-valued input port and one abstract-valued output port. More...

class	OptitrackReceiver
	Converts LCM optitrack_frame_t message data on an input port to RigidTransform data on per-body output ports. More...

class	RgbdSensor
	A meta-sensor that houses RGB, depth, and label cameras, producing their corresponding images based on the contents of the geometry::SceneGraph. More...

class	RgbdSensorDiscrete
	Wraps a continuous RgbdSensor with a zero-order hold to create a discrete sensor. More...

class	RotaryEncoders
	Simple model to capture the quantization and calibration offset effects of a rotary encoder. More...

Typedefs
using	ColorI = Color< int >
	Defines a color based on its three primary additive colors: red, green, and blue. More...

using	ColorD = Color< double >
	Defines a color based on its three primary additive colors: red, green, and blue. More...

using	ImageRgb8U = Image< PixelType::kRgb8U >
	The type for RGB image where the each channel has the type of uint8_t. More...

using	ImageBgr8U = Image< PixelType::kBgr8U >
	The type for BGR image where the each channel has the type of uint8_t. More...

using	ImageRgba8U = Image< PixelType::kRgba8U >
	The type for RGBA image where the each channel has the type of uint8_t. More...

using	ImageBgra8U = Image< PixelType::kBgra8U >
	The type for BGRA image where the each channel has the type of uint8_t. More...

using	ImageDepth32F = Image< PixelType::kDepth32F >
	The type for depth image where the channel has the type of float. More...

using	ImageDepth16U = Image< PixelType::kDepth16U >
	The type for depth image where the channel has the type of uint16_t. More...

using	ImageLabel16I = Image< PixelType::kLabel16I >
	The type for label image where the channel has the type of int16_t. More...

using	ImageGrey8U = Image< PixelType::kGrey8U >
	The type for greyscale image where the channel has the type of uint8_t. More...

using	ImageExpr = Image< PixelType::kExpr >
	The type for symbolic image where the channel has the type of symbolic::Expression. More...

Enumerations
enum	PixelType { kRgb8U = 0, kBgr8U, kRgba8U, kBgra8U, kGrey8U, kDepth16U, kDepth32F, kLabel16I, kExpr }
	The enum class to be used for describing pixel type in Image class. More...

enum	PixelFormat { kRgb = 0, kBgr, kRgba, kBgra, kGrey, kDepth, kLabel, kExpr }
	The enum class to be used to express semantic meaning of pixels. More...

Functions
template<typename T >
std::ostream &	operator<< (std::ostream &out, const Color< T > &color)

Utility functions for writing common image types to disk.
Given a fully-specified path to the file to write and corresponding image data, these functions will attempt to write the image data to the file. The functions assume that the path is valid and writable. These functions will attempt to write the image to the given file path. The file format will be that indicated by the function name, but the extension will be whatever is provided as input. These function do not do validation on the provided file path (existence, writability, correspondence with image type, etc.) It relies on the caller to have done so.
void	SaveToPng (const ImageRgba8U &image, const std::string &file_path)
	Writes the color (8-bit, RGBA) image data to disk. More...

void	SaveToTiff (const ImageDepth32F &image, const std::string &file_path)
	Writes the depth (32-bit) image data to disk. More...

Typedef Documentation

◆ ColorD

using ColorD = Color<double>

Defines a color based on its three primary additive colors: red, green, and blue.

Each of these primary additive colors are in the range of [0, 1].

◆ ColorI

using ColorI = Color<int>

Defines a color based on its three primary additive colors: red, green, and blue.

Each of these primary additive colors are in the range of [0, 255].

◆ ImageBgr8U

using ImageBgr8U = Image<PixelType::kBgr8U>

The type for BGR image where the each channel has the type of uint8_t.

◆ ImageBgra8U

using ImageBgra8U = Image<PixelType::kBgra8U>

The type for BGRA image where the each channel has the type of uint8_t.

◆ ImageDepth16U

using ImageDepth16U = Image<PixelType::kDepth16U>

The type for depth image where the channel has the type of uint16_t.

◆ ImageDepth32F

using ImageDepth32F = Image<PixelType::kDepth32F>

The type for depth image where the channel has the type of float.

◆ ImageExpr

using ImageExpr = Image<PixelType::kExpr>

The type for symbolic image where the channel has the type of symbolic::Expression.

◆ ImageGrey8U

using ImageGrey8U = Image<PixelType::kGrey8U>

The type for greyscale image where the channel has the type of uint8_t.

◆ ImageLabel16I

using ImageLabel16I = Image<PixelType::kLabel16I>

The type for label image where the channel has the type of int16_t.

◆ ImageRgb8U

using ImageRgb8U = Image<PixelType::kRgb8U>

The type for RGB image where the each channel has the type of uint8_t.

◆ ImageRgba8U

using ImageRgba8U = Image<PixelType::kRgba8U>

The type for RGBA image where the each channel has the type of uint8_t.

Enumeration Type Documentation

◆ PixelFormat

enum PixelFormat

strong

The enum class to be used to express semantic meaning of pixels.

This also expresses the order of channels in a pixel if the pixel has multiple channels.

Enumerator
kRgb	The pixel format used for all the RGB images.
kBgr	The pixel format used for all the BGR images.
kRgba	The pixel format used for all the RGBA images.
kBgra	The pixel format used for all the BGRA images.
kGrey	The pixel format used for all the greyscale images.
kDepth	The pixel format used for all the depth images.
kLabel	The pixel format used for all the labe images.
kExpr	The pixel format used for all the symbolic images.

◆ PixelType

enum PixelType

strong

The enum class to be used for describing pixel type in Image class.

The naming rule for the enum members is: k + (pixel format) + (bit per a channel) + (data type for channels). For the type for channels, one of the following capital letters is used.

I: int
U: unsigned int
F: float

Enumerator
kRgb8U	The pixel format used by ImageRgb8U.
kBgr8U	The pixel format used by ImageBgr8U.
kRgba8U	The pixel format used by ImageRgba8U.
kBgra8U	The pixel format used by ImageBgra8U.
kGrey8U	The pixel format used by ImageGrey8U.
kDepth16U	The pixel format used by ImageDepth16U.
kDepth32F	The pixel format used by ImageDepth32F.
kLabel16I	The pixel format used by ImageLabel16I.
kExpr	The pixel format representing symbolic::Expression.

Function Documentation

◆ operator<<()

std::ostream& drake::systems::sensors::operator<<	(	std::ostream &	out,
		const Color< T > &	color
	)

◆ SaveToPng()

void SaveToPng	(	const ImageRgba8U &	image,
		const std::string &	file_path
	)

Writes the color (8-bit, RGBA) image data to disk.

Writes the grey scale (8-bit) image data to disk.

Writes the depth (16-bit) image data to disk.

Writes the label (16-bit) image data to disk.

◆ SaveToTiff()

void drake::systems::sensors::SaveToTiff	(	const ImageDepth32F &	image,
		const std::string &	file_path
	)

Writes the depth (32-bit) image data to disk.

Png files do not support channels larger than 16-bits and its support for floating point values is also limited at best. So, depth images can only be written as tiffs.

Classes

Typedefs

Enumerations

Functions