Namespaces
	shaders

	test

	vtk_util

Classes
class	Accelerometer
	A simulated ideal accelerometer that measures the linear acceleration of a frame associated with a RigidBodyPlant. More...

class	AccelerometerExampleDiagram
	Implements the Diagram shown below, which demonstrates how an accelerometer can be used. More...

class	AccelerometerOutput
	Specializes BasicVector with accessors and setters that are useful for consumers of Accelerometer's output. More...

struct	AccelerometerOutputConstants

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 data structure for camera information that includes the image size and camera intrinsic parameters. 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	DepthSensor
	A simple model of an ideal depth sensor. More...

class	DepthSensorOutput
	Specializes BasicVector with specific getters and setters that are useful for consumers of DepthSensor's output. More...

class	DepthSensorSpecification
	Holds a DepthSensor's specification. More...

class	DepthSensorToLcmPointCloudMessage
	A DepthSensorToLcmPointCloudMessage takes as input a DepthSensorOutput and the pose of the depth sensor in the world (`X_WS`). More...

class	Gyroscope
	A simulated ideal gyroscope. More...

class	GyroscopeOutput
	Specializes BasicVector with accessors and setters that are useful for consumers of Gyroscope's output. More...

struct	GyroscopeOutputConstants
	Defines the semantics of each index in GyroscopeOutput's vector. 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. 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	InvalidDepth
	Set of constants used to represent invalid depth values. More...

class	Label
	Set of labels used for label image. More...

class	LcmImageArrayToImages
	An LcmImageArrayToImages takes as input an AbstractValue containing a `Value<robotlocomotion::image_array_t>` LCM message that defines an array of images (image_t). 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...

struct	RenderingConfig
	Common configurations of rendering systems. More...

class	RgbdCamera
	An RGB-D camera system that provides RGB, depth and label images using visual elements of RigidBodyTree. More...

class	RgbdCameraDiscrete
	Wraps a continuous RgbdCamera with zero order holds to have it function as a discrete sensor. More...

class	RgbdRenderer
	Abstract interface of RGB-D renderers, which render RGB, depth and label images using VisualElement. More...

class	RgbdRendererOSPRay
	An RgbdRenderer implementation using OSPRay via VTK. More...

class	RgbdRendererVTK
	An RgbdRenderer implementation using VTK. 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
std::ostream &	operator<< (std::ostream &out, const DepthSensor &sensor)

bool	operator== (const DepthSensorSpecification &lhs, const DepthSensorSpecification &rhs)

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

template<PixelType kPixelType>
void	SaveToFileHelper (const Image< kPixelType > &image, const std::string &file_path)

template const InputPort< double > &	ImageWriter::DeclareImageInputPort< PixelType::kRgba8U > (std::string port_name, std::string file_name_format, double publish_period, double start_time)

template const InputPort< double > &	ImageWriter::DeclareImageInputPort< PixelType::kDepth32F > (std::string port_name, std::string file_name_format, double publish_period, double start_time)

template const InputPort< double > &	ImageWriter::DeclareImageInputPort< PixelType::kLabel16I > (std::string port_name, std::string file_name_format, double publish_period, double start_time)

template void	ImageWriter::WriteImage< PixelType::kRgba8U > (const Context< double > &context, int index) const

template void	ImageWriter::WriteImage< PixelType::kDepth32F > (const Context< double > &context, int index) const

template void	ImageWriter::WriteImage< PixelType::kLabel16I > (const Context< double > &context, int index) const

int	main ()

	GTEST_TEST (OptitrackSenderTest, OptitrackLcmSenderTest)

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...

Variables
const int	kNumMaxLabel = 256

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

◆ GTEST_TEST()

drake::systems::sensors::GTEST_TEST	(	OptitrackSenderTest	,
		OptitrackLcmSenderTest
	)

◆ ImageWriter::DeclareImageInputPort< PixelType::kDepth32F >()

template const InputPort<double>& drake::systems::sensors::ImageWriter::DeclareImageInputPort< PixelType::kDepth32F >	(	std::string	port_name,
		std::string	file_name_format,
		double	publish_period,
		double	start_time
	)

◆ ImageWriter::DeclareImageInputPort< PixelType::kLabel16I >()

template const InputPort<double>& drake::systems::sensors::ImageWriter::DeclareImageInputPort< PixelType::kLabel16I >	(	std::string	port_name,
		std::string	file_name_format,
		double	publish_period,
		double	start_time
	)

◆ ImageWriter::DeclareImageInputPort< PixelType::kRgba8U >()

template const InputPort<double>& drake::systems::sensors::ImageWriter::DeclareImageInputPort< PixelType::kRgba8U >	(	std::string	port_name,
		std::string	file_name_format,
		double	publish_period,
		double	start_time
	)

◆ ImageWriter::WriteImage< PixelType::kDepth32F >()

template void drake::systems::sensors::ImageWriter::WriteImage< PixelType::kDepth32F >	(	const Context< double > &	context,
		int	index
	)		const

◆ ImageWriter::WriteImage< PixelType::kLabel16I >()

template void drake::systems::sensors::ImageWriter::WriteImage< PixelType::kLabel16I >	(	const Context< double > &	context,
		int	index
	)		const

◆ ImageWriter::WriteImage< PixelType::kRgba8U >()

template void drake::systems::sensors::ImageWriter::WriteImage< PixelType::kRgba8U >	(	const Context< double > &	context,
		int	index
	)		const

◆ main()

int drake::systems::sensors::main ( )

◆ operator<<() [1/2]

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

◆ operator<<() [2/2]

std::ostream& drake::systems::sensors::operator<<	(	std::ostream &	out,
		const DepthSensor &	sensor
	)

◆ operator==()

bool drake::systems::sensors::operator==	(	const DepthSensorSpecification &	lhs,
		const DepthSensorSpecification &	rhs
	)

inline

◆ SaveToFileHelper()

void drake::systems::sensors::SaveToFileHelper	(	const Image< kPixelType > &	image,
		const std::string &	file_path
	)

◆ SaveToPng()

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

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

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

◆ SaveToTiff()

void 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.

Variable Documentation

◆ kNumMaxLabel

const int kNumMaxLabel = 256

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables