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	BeamModelParams
	Specializes BasicVector with specific getters and setters. More...

struct	BeamModelParamsIndices
	Describes the row indices of a BeamModelParams. More...

struct	CameraConfig
	Configuration of a camera. More...

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

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

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

class	ImageIo
	Utility functions for reading and writing images, from/to either files or memory buffers. 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::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	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	RgbdSensorAsync
	A sensor similar to RgbdSensorDiscrete but the rendering occurs on a background thread to offer improved performance. 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	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	ImageAny = std::variant< ImageBgr8U, ImageBgra8U, ImageDepth16U, ImageDepth32F, ImageGrey8U, ImageRgb8U, ImageRgba8U, ImageLabel16I >
	A sum type of all built-in images types. More...

Enumerations
enum	ImageFileFormat { kJpeg, kPng, kTiff }
	The image file formats known to Drake. More...

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

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

enum	PixelScalar { k8U, k16I, k16U, k32F }
	The enum class to be used to express channel type. More...

Functions
void	ApplyCameraConfig (const CameraConfig &config, DiagramBuilder< double > builder, const systems::lcm::LcmBuses lcm_buses=nullptr, const multibody::MultibodyPlant< double > plant=nullptr, geometry::SceneGraph< double > scene_graph=nullptr, drake::lcm::DrakeLcmInterface *lcm=nullptr)
	Constructs a simulated camera sensor (rgbd sensor and publishing systems) within `builder`. More...

void	ConvertDepth32FTo16U (const ImageDepth32F &input, ImageDepth16U *output)
	Converts a single channel 32-bit float depth image with depths in meters to a single channel 16-bit unsigned int depth image with depths in millimeters. More...

void	ConvertDepth16UTo32F (const ImageDepth16U &input, ImageDepth32F *output)
	Converts a single channel 16-bit unsigned int depth image with depths in millimeters to a single channel 32-bit float depth image with depths in meters. More...

std::string	to_string (ImageFileFormat)

std::string	to_string (PixelType)

std::string	to_string (PixelFormat)

std::string	to_string (PixelScalar)

template<PixelType kPixelType>
void	PrintTo (const Image< kPixelType > &image, std::ostream *os)
	Adds googletest support for printing EXPECT_EQ(Image, Image) failures. More...

template<PixelType kPixelType>
::testing::AssertionResult	LoadImage (const std::filesystem::path &filename, Image< kPixelType > *image)
	Loads the PNG or TIFF image from `filename` into the `image` output. More...

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

◆ ImageAny

using ImageAny = std::variant< ImageBgr8U, ImageBgra8U, ImageDepth16U, ImageDepth32F, ImageGrey8U, ImageRgb8U, ImageRgba8U, ImageLabel16I>

A sum type of all built-in images types.

◆ 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.

◆ 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

◆ ImageFileFormat

enum ImageFileFormat

strong

The image file formats known to Drake.

Enumerator
kJpeg	mime-type: image/jpeg.
kPng	mime-type: image/png.
kTiff	mime-type: image/tiff.

◆ 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.

◆ PixelScalar

enum PixelScalar

strong

The enum class to be used to express channel type.

Enumerator
k8U	uint8_t
k16I	int16_t
k16U	uint16_t
k32F	float (32-bit)

◆ 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.

Function Documentation

◆ ApplyCameraConfig()

void drake::systems::sensors::ApplyCameraConfig	(	const CameraConfig &	config,
		DiagramBuilder< double > *	builder,
		const systems::lcm::LcmBuses *	lcm_buses = `nullptr`,
		const multibody::MultibodyPlant< double > *	plant = `nullptr`,
		geometry::SceneGraph< double > *	scene_graph = `nullptr`,
		drake::lcm::DrakeLcmInterface *	lcm = `nullptr`
	)

Constructs a simulated camera sensor (rgbd sensor and publishing systems) within builder.

As specified, the RGB, depth, and/or label images from the camera are published via lcm on the channel DRAKE_RGBD_CAMERA_IMAGES_{camera_config.name}.

Parameters

[in]	config	The camera configuration.
[in,out]	builder	The diagram to add sensor and publishing systems into.
[in]	lcm_buses	(Optional) The available LCM buses to use for camera message publication. When not provided, uses the `lcm` interface if provided, or else the `config.lcm_bus` must be set to "default" in which case an appropriate drake::lcm::DrakeLcm object is constructed and used internally.
[in]	plant	(Optional) The MultibodyPlant to use for kinematics. In the common case where a MultibodyPlant has already been added to `builder` using either AddMultibodyPlant() or AddMultibodyPlantSceneGraph(), the default value (nullptr) here is suitable and generally should be preferred. When provided, it must be a System that's been added to the given `builder`. When not provided, uses the system named "plant" in the given `builder`.
[in]	scene_graph	(Optional) The SceneGraph to use for rendering. In the common case where a SceneGraph has already been added to `builder` using either AddMultibodyPlant() or AddMultibodyPlantSceneGraph(), the default value (nullptr) here is suitable and generally should be preferred. When provided, it must be a System that's been added to the given `builder`. When not provided, uses the system named "scene_graph" in the given `builder`.
[in]	lcm	(Optional) The LCM interface used for visualization message publication. When not provided, uses the `config.lcm_bus` value to look up the appropriate interface from `lcm_buses`.

Exceptions

std::exception if camera_config contains invalid values.

Precondition: The builder is non-null.; Either the config.lcm_bus is set to "default", or else lcm_buses is non-null and contains a bus named config.lcm_bus, or else lcm is non-null.; Either the given builder contains a MultibodyPlant system named "plant" or else the provided plant is non-null.; Either the given builder contains a SceneGraph system named "scene_graph" or else the provided scene_graph is non-null.

See also: drake::multibody::AddMultibodyPlant(); drake::systems::lcm::ApplyLcmBusConfig()

◆ ConvertDepth16UTo32F()

void drake::systems::sensors::ConvertDepth16UTo32F	(	const ImageDepth16U &	input,
		ImageDepth32F *	output
	)

Converts a single channel 16-bit unsigned int depth image with depths in millimeters to a single channel 32-bit float depth image with depths in meters.

◆ ConvertDepth32FTo16U()

void drake::systems::sensors::ConvertDepth32FTo16U	(	const ImageDepth32F &	input,
		ImageDepth16U *	output
	)

Converts a single channel 32-bit float depth image with depths in meters to a single channel 16-bit unsigned int depth image with depths in millimeters.

Note that pixels that are not kTooFar in the input image may saturate to be kTooFar in the output image due to the smaller representable range.

◆ LoadImage()

::testing::AssertionResult drake::systems::sensors::LoadImage	(	const std::filesystem::path &	filename,
		Image< kPixelType > *	image
	)

Loads the PNG or TIFF image from filename into the image output.

◆ PrintTo()

void drake::systems::sensors::PrintTo	(	const Image< kPixelType > &	image,
		std::ostream *	os
	)

Adds googletest support for printing EXPECT_EQ(Image, Image) failures.

Small images print all pixel data. Large images only print a summary.

◆ 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 label (16-bit) image data to disk.

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

See ConvertDepth16UTo32F() for converting 16-bit to 32-bit to enable saving as TIFF.

◆ SaveToTiff()

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

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

A 32-bit depth image can only be saved as TIFF (not PNG) because PNG files do not support channels larger than 16-bits and its support for floating point values is also limited at best. See ConvertDepth32FTo16U() for converting 32-bit to 16-bit to enable saving as PNG.

◆ to_string() [1/4]

std::string drake::systems::sensors::to_string ( ImageFileFormat )

◆ to_string() [2/4]

std::string drake::systems::sensors::to_string ( PixelType )

◆ to_string() [3/4]

std::string drake::systems::sensors::to_string ( PixelFormat )

◆ to_string() [4/4]

std::string drake::systems::sensors::to_string ( PixelScalar )

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ ImageAny

◆ ImageBgr8U

◆ ImageBgra8U

◆ ImageDepth16U

◆ ImageDepth32F

◆ ImageGrey8U

◆ ImageLabel16I

◆ ImageRgb8U

◆ ImageRgba8U

Enumeration Type Documentation

◆ ImageFileFormat

◆ PixelFormat

◆ PixelScalar

◆ PixelType

Function Documentation

◆ ApplyCameraConfig()

◆ ConvertDepth16UTo32F()

◆ ConvertDepth32FTo16U()

◆ LoadImage()

◆ PrintTo()

◆ SaveToPng()

◆ SaveToTiff()

◆ to_string() [1/4]

◆ to_string() [2/4]

◆ to_string() [3/4]

◆ to_string() [4/4]