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... | |
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].
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].
using ImageBgr8U = Image<PixelType::kBgr8U> |
The type for BGR image where the each channel has the type of uint8_t.
using ImageBgra8U = Image<PixelType::kBgra8U> |
The type for BGRA image where the each channel has the type of uint8_t.
using ImageDepth16U = Image<PixelType::kDepth16U> |
The type for depth image where the channel has the type of uint16_t.
using ImageDepth32F = Image<PixelType::kDepth32F> |
The type for depth image where the channel has the type of float.
using ImageExpr = Image<PixelType::kExpr> |
The type for symbolic image where the channel has the type of symbolic::Expression.
using ImageGrey8U = Image<PixelType::kGrey8U> |
The type for greyscale image where the channel has the type of uint8_t.
using ImageLabel16I = Image<PixelType::kLabel16I> |
The type for label image where the channel has the type of int16_t.
using ImageRgb8U = Image<PixelType::kRgb8U> |
The type for RGB image where the each channel has the type of uint8_t.
using ImageRgba8U = Image<PixelType::kRgba8U> |
The type for RGBA image where the each channel has the type of uint8_t.
|
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.
|
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.
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. |
std::ostream& drake::systems::sensors::operator<< | ( | std::ostream & | out, |
const Color< T > & | color | ||
) |
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.
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.