Gazebo Rendering

API Reference

7.4.2
BaseSegmentationCamera< T > Class Template Referenceabstract

#include <BaseSegmentationCamera.hh>

Public Member Functions

virtual ~BaseSegmentationCamera ()
 Destructor. More...
 
virtual const math::ColorBackgroundColor () 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()

Constructor.

◆ ~BaseSegmentationCamera()

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]_subscriberSubscriber 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]_enableTrue 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]_labelBufferA 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]_colorColor of background & unlabeled items

Implements SegmentationCamera.

◆ SetBackgroundLabel()

void SetBackgroundLabel ( int  _label)
overridevirtual

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

Parameters
[in]_labellabel of background & unlabeled items

Implements SegmentationCamera.

Reimplemented in Ogre2SegmentationCamera.

◆ SetSegmentationType()

void SetSegmentationType ( SegmentationType  _type)
overridevirtual

Set Segmentation Type.

Parameters
[in]_typeSegmentation 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

The segmentation type.


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