#include <BaseSegmentationCamera.hh>

Public Member Functions
virtual	~BaseSegmentationCamera ()
	Destructor. More...

virtual const math::Color &	BackgroundColor () const override
	Get color for background & unlabeled items in the colored map. More...

virtual int	BackgroundLabel () const override
	Get label for background & unlabeled items in the semantic map. More...

virtual gz::common::ConnectionPtr	ConnectNewSegmentationFrame (std::function< void(const uint8_t *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber) override
	Connect to the new Segmentation image event. More...

virtual void	CreateSegmentationTexture () override=0
	Create a texture which will hold the segmentation data. More...

virtual void	EnableColoredMap (bool _enable) override
	Enable Color map mode to generate colored semantics. More...

virtual bool	IsColoredMap () const override
	Check if color map mode is enabled. More...

void	LabelMapFromColoredBuffer (uint8_t *_labelBuffer) const override=0
	Convert the colored map stored in the internal buffer to label IDs map, so users get both the colored map and the corresponding IDs map. This function must be called before the next render loop and the colored map mode must be enabeled. More...

virtual uint8_t *	SegmentationData () const override
	Get the segmentation image data. If the segmentation type is panoptic, the first two channels are the instance count, and the last channel is the label. More...

virtual void	SetBackgroundColor (const math::Color &_color) override
	Set color for background & unlabeled items in the colored map. More...

virtual void	SetBackgroundLabel (int _label) override
	Set label for background & unlabeled items in the semantic map. More...

virtual void	SetSegmentationType (SegmentationType _type) override
	Set Segmentation Type. More...

virtual SegmentationType	Type () const override
	Get Segmentation Type. More...

Public Member Functions inherited from SegmentationCamera
virtual	~SegmentationCamera ()
	Destructor. More...

Public Member Functions inherited from Camera
virtual	~Camera ()
	Destructor. More...

virtual void	Render ()=0
	Renders the current scene using this camera. This function assumes PreRender() has already been called on the parent Scene, allowing the camera and the scene itself to prepare for rendering. More...

Public Member Functions inherited from Sensor
virtual	~Sensor ()
	Sensor. More...

virtual void	SetVisibilityMask (uint32_t _mask)=0
	Set visibility mask. More...

virtual uint32_t	VisibilityMask () const =0
	Get visibility mask. More...

Public Member Functions inherited from Node
virtual	~Node ()
	Destructor. More...

virtual void	AddChild (NodePtr _child)=0
	Add the given node to this node. If the given node is already a child, no work will be done. More...

virtual NodePtr	ChildById (unsigned int _id) const =0
	Get node with given ID. If no child exists with given ID, NULL will be returned. More...

virtual NodePtr	ChildByIndex (unsigned int _index) const =0
	Get node at given index. If no child exists at given index, NULL will be returned. More...

virtual NodePtr	ChildByName (const std::string &_name) const =0
	Get node with given name. If no child exists with given name, NULL will be returned. More...

virtual unsigned int	ChildCount () const =0
	Get number of child nodes. More...

virtual bool	HasChild (ConstNodePtr _child) const =0
	Determine if given node is an attached child. More...

virtual bool	HasChildId (unsigned int _id) const =0
	Determine if node with given ID is an attached child. More...

virtual bool	HasChildName (const std::string &_name) const =0
	Determine if node with given name is an attached child. More...

virtual bool	HasParent () const =0
	Determine if this Node is attached to another Node. More...

virtual bool	HasUserData (const std::string &_key) const =0
	Check if node has custom data. More...

virtual bool	InheritScale () const =0
	Determine if this node inherits scale from this parent. More...

virtual math::Pose3d	InitialLocalPose () const =0
	Get the initial local pose. More...

virtual math::Pose3d	LocalPose () const =0
	Get the local pose. More...

virtual math::Vector3d	LocalPosition () const =0
	Get the local position. More...

virtual math::Quaterniond	LocalRotation () const =0
	Get the local rotation. More...

virtual math::Vector3d	LocalScale () const =0
	Get the local scale. More...

virtual math::Vector3d	Origin () const =0
	Get position of origin. More...

virtual NodePtr	Parent () const =0
	Get the parent Node. More...

virtual NodePtr	RemoveChild (NodePtr _child)=0
	Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildById (unsigned int _id)=0
	Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByIndex (unsigned int _index)=0
	Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done. More...

virtual NodePtr	RemoveChildByName (const std::string &_name)=0
	Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done. More...

virtual void	RemoveChildren ()=0
	Remove all child nodes from this node This detaches all the child nodes but does not destroy them. More...

virtual void	RemoveParent ()=0
	Detach this Node from its parent. If this Node does not have a parent, no work will be done. More...

virtual void	Scale (const math::Vector3d &_scale)=0
	Scale the current scale by the given scalars. More...

virtual void	Scale (double _scale)=0
	Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates. More...

virtual void	Scale (double _x, double _y, double _z)=0
	Scale the current scale by the given scalars. More...

virtual void	SetInheritScale (bool _inherit)=0
	Specify if this node inherits scale from its parent. More...

virtual void	SetLocalPose (const math::Pose3d &_pose)=0
	Set the local pose. More...

virtual void	SetLocalPosition (const math::Vector3d &_position)=0
	Set the local position. More...

virtual void	SetLocalPosition (double _x, double _y, double _z)=0
	Set the local position. More...

virtual void	SetLocalRotation (const math::Quaterniond &_rotation)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _r, double _p, double _y)=0
	Set the local rotation. More...

virtual void	SetLocalRotation (double _w, double _x, double _y, double _z)=0
	Set the local rotation. More...

virtual void	SetLocalScale (const math::Vector3d &_scale)=0
	Set the local scale. More...

virtual void	SetLocalScale (double _scale)=0
	Set the local scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetLocalScale (double _x, double _y, double _z)=0
	Set the local scale. More...

virtual void	SetOrigin (const math::Vector3d &_origin)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetOrigin (double _x, double _y, double _z)=0
	Set position of origin. The position should be relative to the original origin of the geometry. More...

virtual void	SetUserData (const std::string &_key, Variant _value)=0
	Store any custom data associated with this node. More...

virtual void	SetWorldPose (const math::Pose3d &_pose)=0
	Set the world pose. More...

virtual void	SetWorldPosition (const math::Vector3d &_position)=0
	Set the world position. More...

virtual void	SetWorldPosition (double _x, double _y, double _z)=0
	Set the world position. More...

virtual void	SetWorldRotation (const math::Quaterniond &_rotation)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _r, double _p, double _y)=0
	Set the world rotation. More...

virtual void	SetWorldRotation (double _w, double _x, double _y, double _z)=0
	Set the world rotation. More...

virtual void	SetWorldScale (const math::Vector3d &_scale)=0
	Set the world scale. More...

virtual void	SetWorldScale (double _scale)=0
	Set the world scale. The given scale will be assigned to the x, y, and z coordinates. More...

virtual void	SetWorldScale (double _x, double _y, double _z)=0
	Set the world scale. More...

virtual Variant	UserData (const std::string &_key) const =0
	Get custom data stored in this node. More...

virtual math::Pose3d	WorldPose () const =0
	Get the world pose. More...

virtual math::Vector3d	WorldPosition () const =0
	Get the world position. More...

virtual math::Quaterniond	WorldRotation () const =0
	Get the world rotation. More...

virtual math::Vector3d	WorldScale () const =0
	Get the world scale. More...

virtual math::Pose3d	WorldToLocal (const math::Pose3d &_pose) const =0
	Convert given world pose to local pose. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Public Member Functions inherited from BaseCamera< T >
virtual	~BaseCamera ()

virtual void	AddRenderPass (const RenderPassPtr &_pass) override
	Add a render pass to the camera. More...

virtual unsigned int	AntiAliasing () const override
	Get the level of anti-aliasing used during rendering. More...

virtual double	AspectRatio () const override
	Get the camera's aspect ratio. More...

virtual void	Capture (Image &_image) override
	Renders a new frame and writes the results to the given image. This is a convenience function for single-camera scenes. It wraps the pre-render, render, post-render, and get-image calls into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual common::ConnectionPtr	ConnectNewImageFrame (Camera::NewFrameListener _listener) override
	Subscribes a new listener to this camera's new frame event. More...

virtual void	Copy (Image &_image) const override
	Writes the last rendered image to the given image buffer. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual Image	CreateImage () const override
	Created an empty image buffer for capturing images. The resulting image will have sufficient memory allocated for subsequent calls to this camera's Capture function. However, any changes to this cameras properties may invalidate the condition. More...

virtual RenderWindowPtr	CreateRenderWindow () override
	Create a render window. More...

virtual double	FarClipPlane () const override
	Get the camera's far clipping plane distance. More...

virtual math::Vector3d	FollowOffset () const override
	Get the follow offset vector in the frame specified at the time the follow target is set. More...

virtual double	FollowPGain () const override
	Get the camera follow movement P gain. More...

virtual NodePtr	FollowTarget () const override
	Get the target node being followed. More...

virtual math::Angle	HFOV () const override
	Get the camera's horizontal field-of-view. More...

virtual PixelFormat	ImageFormat () const override
	Get the image pixel format. If the image pixel format has not been set with a valid value, PF_UNKNOWN will be returned. More...

virtual unsigned int	ImageHeight () const override
	Get the image height in pixels. More...

virtual unsigned int	ImageMemorySize () const override
	Get the total image memory size in bytes. More...

virtual unsigned int	ImageWidth () const override
	Get the image width in pixels. More...

virtual double	NearClipPlane () const override
	Get the camera's near clipping plane distance. More...

virtual void	PostRender () override
	Preforms any necessary final rendering work. Once rendering is complete the camera will alert any listeners of the new frame event. This function should only be called after a call to Render has successfully been executed. More...

virtual void	PreRender () override
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual math::Vector2i	Project (const math::Vector3d &_pt) const override
	Project point in 3d world space to 2d screen space. More...

virtual math::Matrix4d	ProjectionMatrix () const override
	Get the projection matrix for this camera. More...

virtual CameraProjectionType	ProjectionType () const override
	Get the projection type for this camera. More...

virtual void	RemoveRenderPass (const RenderPassPtr &_pass) override
	Remove a render pass from the camera. More...

virtual RenderPassPtr	RenderPassByIndex (unsigned int _index) const override
	Get a render passes by index. More...

virtual unsigned int	RenderPassCount () const override
	Get the number of render passes applied to the camera. More...

virtual unsigned int	RenderTextureGLId () const override
	Get the OpenGL texture id associated with the render texture used by this camera. A valid id is returned only if the underlying render engine is OpenGL based. More...

virtual void	RenderTextureMetalId (void *_textureIdPtr) const override
	Get the Metal texture id associated with the render texture used by this camera. A valid Id is obtained only if the underlying render engine is Metal based. The pointer set by this function must be released to an id<MTLTexture> using CFBridgingRelease. More...

virtual bool	SaveFrame (const std::string &_name) override
	Writes the previously rendered frame to a file. This function can be called multiple times after PostRender has been called, without rendering the scene again. Calling this function before a single image has been rendered will have undefined behavior. More...

virtual void	SetAntiAliasing (const unsigned int _aa) override
	Set the level of anti-aliasing used during rendering. If a value of 0 is given, no anti-aliasing will be performed. Higher values can significantly slow-down rendering times, depending on the underlying render engine. More...

virtual void	SetAspectRatio (const double _ratio) override
	Set the camera's aspect ratio. This value determines the cameras vertical field-of-view. It is often the. More...

virtual void	SetFarClipPlane (const double _far) override
	Set the camera's far clipping plane distance. More...

virtual void	SetFollowOffset (const math::Vector3d &_offset) override
	Set offset of camera from target node being followed. The offset will be in the frame that is specified at the time the follow target is set. More...

virtual void	SetFollowPGain (const double _pGain) override
	Set follow P Gain. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

virtual void	SetFollowTarget (const NodePtr &_target, const math::Vector3d &_Offset, const bool _worldFrame) override
	Set a node for camera to follow. The camera will automatically update its position to keep itself at the specified offset distance from the target being followed. If null is specified, camera follow is disabled. In contrast to SetTrackTarget, the camera does not change its orientation when following is enabled. More...

virtual void	SetHFOV (const math::Angle &_hfov) override
	Set the camera's horizontal field-of-view. More...

virtual void	SetImageFormat (PixelFormat _format) override
	Set the image pixel format. More...

virtual void	SetImageHeight (const unsigned int _height) override
	Set the image height in pixels. More...

virtual void	SetImageWidth (const unsigned int _width) override
	Set the image width in pixels. More...

virtual void	SetMaterial (const MaterialPtr &_material) override
	Set a material that the camera should see on all objects. More...

virtual void	SetNearClipPlane (const double _near) override
	Set the camera's near clipping plane distance. More...

virtual void	SetProjectionMatrix (const math::Matrix4d &_matrix) override
	Set the projection matrix for this camera. This overrides the standard projection matrix computed based on camera parameters. More...

virtual void	SetProjectionType (CameraProjectionType _type) override
	Set the projection type for this camera This changes the projection matrix of the camera based on the camera projection type. A custom projection matrix can be specified via `SetProjectionMatrix` to override the provided one. To disable the custom projection matrix, just call this function again with the desired projection type. More...

virtual void	SetShadowsDirty () override

virtual void	SetTrackOffset (const math::Vector3d &_offset) override
	Set track offset. Camera will track a point that's at an offset from the target node. The offset will be in the frame that is specified at the time the track target is set. More...

virtual void	SetTrackPGain (const double _pGain) override
	Set track P Gain. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

virtual void	SetTrackTarget (const NodePtr &_target, const math::Vector3d &_offset, const bool _worldFrame) override
	Set a node for camera to track. The camera will automatically change its orientation to face the target being tracked. If null is specified, tracking is disabled. In contrast to SetFollowTarget the camera does not change its position when tracking is enabled. More...

virtual math::Vector3d	TrackOffset () const override
	Get the track offset vector in the frame specified at the time the track target is set. More...

virtual double	TrackPGain () const override
	Get the camera track rotation P gain. More...

virtual NodePtr	TrackTarget () const override
	Get the target node being tracked. More...

virtual void	Update () override
	Renders a new frame. This is a convenience function for single-camera scenes. It wraps the pre-render, render, and post-render into a single function. This should NOT be used in applications with multiple cameras or multiple consumers of a single camera's images. More...

virtual math::Matrix4d	ViewMatrix () const override
	Get the view matrix for this camera. More...

virtual VisualPtr	VisualAt (const gz::math::Vector2i &_mousePos) override
	Get the visual for a given mouse position param[in] _mousePos mouse position. More...

Protected Member Functions
	BaseSegmentationCamera ()
	Constructor. More...

Protected Member Functions inherited from BaseCamera< T >
	BaseCamera ()

virtual void *	CreateImageBuffer () const

virtual void	Load () override

virtual RenderTargetPtr	RenderTarget () const =0

virtual void	Reset ()

Protected Attributes
math::Color	backgroundColor {0, 0, 0}
	The color of objects that are considered background (i.e., objects that have no label) More...

int	backgroundLabel {0}
	The label of background objects. More...

bool	isColoredMap {false}
	Whether a colored map is being generated (true) or label ID map is being generated (false) More...

uint8_t *	segmentationData {nullptr}
	The buffer that contains segmentation data. More...

SegmentationType	type {SegmentationType::ST_SEMANTIC}
	The segmentation type. More...

Protected Attributes inherited from BaseCamera< T >
unsigned int	antiAliasing = 0u
	Anti-aliasing. More...

double	aspect = 1.3333333
	Aspect ratio. More...

double	farClip = 1000.0
	Far clipping plane distance. More...

NodePtr	followNode
	Target node to follow. More...

math::Vector3d	followOffset
	Offset distance between camera and target node being followed. More...

double	followPGain = 1.0
	P gain for follow mode. Determines how fast the camera moves to follow the target node. Valid range: [0-1]. More...

bool	followWorldFrame = false
	Follow target in world frame. More...

math::Angle	hfov
	Horizontal camera field of view. More...

ImagePtr	imageBuffer

double	nearClip = 0.01
	Near clipping plane distance. More...

common::EventT< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	newFrameEvent

math::Matrix4d	projectionMatrix
	Custom projection matrix. More...

CameraProjectionType	projectionType = CPT_PERSPECTIVE
	Camera projection type. More...

NodePtr	trackNode
	Target node to track if camera tracking is on. More...

math::Vector3d	trackOffset
	Set camera to track a point offset in target node's local or world frame depending on trackWorldFrame. More...

double	trackPGain = 1.0
	P gain for tracking. Determines how fast the camera rotates to look at the target node. Valid range: [0-1]. More...

bool	trackWorldFrame = false
	Track point relative to target in world frame. More...

Additional Inherited Members
Public Types inherited from Camera
typedef std::function< void(const void *, unsigned int, unsigned int, unsigned int, const std::string &)>	NewFrameListener
	Callback function for new frame render event listeners. More...

Constructor & Destructor Documentation

◆ BaseSegmentationCamera()

BaseSegmentationCamera

protected

Constructor.

◆ ~BaseSegmentationCamera()

~BaseSegmentationCamera

virtual

Destructor.

Member Function Documentation

◆ BackgroundColor()

const math::Color & BackgroundColor ( ) const

overridevirtual

Get color for background & unlabeled items in the colored map.

Returns: Color of background & unlabeled items

Implements SegmentationCamera.

◆ BackgroundLabel()

int BackgroundLabel ( ) const

overridevirtual

Get label for background & unlabeled items in the semantic map.

Returns: label of background & unlabeled items

Implements SegmentationCamera.

◆ ConnectNewSegmentationFrame()

gz::common::ConnectionPtr ConnectNewSegmentationFrame ( std::function< void(const uint8_t *, unsigned int, unsigned int, unsigned int, const std::string &)> _subscriber )

overridevirtual

Connect to the new Segmentation image event.

Parameters

[in] _subscriber Subscriber callback function. The callback function arguments are: <segmentation data, width, height, channels, format>

Returns: Pointer to the new Connection. This must be kept in scope

Implements SegmentationCamera.

Reimplemented in Ogre2SegmentationCamera.

◆ CreateSegmentationTexture()

virtual void CreateSegmentationTexture ( )

overridepure virtual

Create a texture which will hold the segmentation data.

Implements SegmentationCamera.

Implemented in Ogre2SegmentationCamera.

◆ EnableColoredMap()

void EnableColoredMap ( bool _enable )

overridevirtual

Enable Color map mode to generate colored semantics.

Parameters

[in] _enable True to generate colored map, False to generate label id map

Implements SegmentationCamera.

◆ IsColoredMap()

bool IsColoredMap ( ) const

overridevirtual

Check if color map mode is enabled.

Returns: True if colored map, False if label id map

Implements SegmentationCamera.

◆ LabelMapFromColoredBuffer()

void LabelMapFromColoredBuffer ( uint8_t * _labelBuffer ) const

overridepure virtual

Convert the colored map stored in the internal buffer to label IDs map, so users get both the colored map and the corresponding IDs map. This function must be called before the next render loop and the colored map mode must be enabeled.

Parameters

[out] _labelBuffer A buffer that is populated with the label IDs map data. This output buffer must be allocated with the same size before calling

Implements SegmentationCamera.

Implemented in Ogre2SegmentationCamera.

◆ SegmentationData()

uint8_t * SegmentationData ( ) const

overridevirtual

Get the segmentation image data. If the segmentation type is panoptic, the first two channels are the instance count, and the last channel is the label.

Returns: The labels-buffer as an array of unsigned ints

Implements SegmentationCamera.

◆ SetBackgroundColor()

void SetBackgroundColor ( const math::Color & _color )

overridevirtual

Set color for background & unlabeled items in the colored map.

Parameters

[in] _color Color of background & unlabeled items

Implements SegmentationCamera.

◆ SetBackgroundLabel()

void SetBackgroundLabel ( int _label )

overridevirtual

Set label for background & unlabeled items in the semantic map.

Parameters

[in] _label label of background & unlabeled items

Implements SegmentationCamera.

Reimplemented in Ogre2SegmentationCamera.

◆ SetSegmentationType()

void SetSegmentationType ( SegmentationType _type )

overridevirtual

Set Segmentation Type.

Parameters

[in] _type Segmentation Type

Implements SegmentationCamera.

◆ Type()

SegmentationType Type ( ) const

overridevirtual

Get Segmentation Type.

Returns: Segmentation Type

Implements SegmentationCamera.

Member Data Documentation

◆ backgroundColor

math::Color backgroundColor {0, 0, 0}

protected

The color of objects that are considered background (i.e., objects that have no label)

◆ backgroundLabel

int backgroundLabel {0}

protected

The label of background objects.

◆ isColoredMap

bool isColoredMap {false}

protected

Whether a colored map is being generated (true) or label ID map is being generated (false)

◆ segmentationData

uint8_t* segmentationData {nullptr}

protected

The buffer that contains segmentation data.

◆ type

SegmentationType type {SegmentationType::ST_SEMANTIC}

protected

The segmentation type.

The documentation for this class was generated from the following file:

gz/rendering/base/BaseSegmentationCamera.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ BaseSegmentationCamera()

◆ ~BaseSegmentationCamera()

Member Function Documentation

◆ BackgroundColor()

◆ BackgroundLabel()

◆ ConnectNewSegmentationFrame()

◆ CreateSegmentationTexture()

◆ EnableColoredMap()

◆ IsColoredMap()

◆ LabelMapFromColoredBuffer()

◆ SegmentationData()

◆ SetBackgroundColor()

◆ SetBackgroundLabel()

◆ SetSegmentationType()

◆ Type()

Member Data Documentation

◆ backgroundColor

◆ backgroundLabel

◆ isColoredMap

◆ segmentationData

◆ type