Display Module¶
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class
display.Display(isHeadless)¶ Allows the user to print images to the screen.
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abstract
create_window()¶ Creates an empty window into which images will be displayed.
Note
It is not necessary to call create_window before any of the other display methods (show_color_image, show_depth_image, etc.). These methods will automatically create a new window if one was not already created.
Example:
# Creates a window rc.camera.create_window() # Display an image in this window image = rc.camera.get_color_image() rc.display.show_color_image(image)
- Return type
None
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abstract
show_color_image(image)¶ Displays a color image in a window.
- Parameters
image (
NDArray) – The color image to display to the the screen.
Example:
image = rc.camera.get_color_image() # Show the image captured by the camera rc.display.show_color_image(image)
- Return type
None
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show_depth_image(image, max_depth=1000, points=[])¶ Displays a depth image in grayscale in a window.
- Parameters
image (
NDArray[(typing.Any, typing.Any),float32]) – The depth image to display to the screen.max_depth (
int) – The farthest depth to show in the image in cm. Anything past this depth is shown as black.points (
List[Tuple[int,int]]) – A list of points in (pixel row, pixel column) format to show on the image as colored dots.
Example:
depth_image = rc.camera.get_depth_image() # Show the depth_image captured by the camera. rc.display.show_depth_image(depth_image) # Show anything that is at most 500 cm away, and show a black cross at # row 3, column 5 rc.display.show_depth_image(depth_image, 500, [(3, 5)])
- Return type
None
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show_lidar(samples, radius=128, max_range=1000, highlighted_samples=[])¶ Displays a set of LIDAR samples.
- Parameters
samples (
NDArray[Any,float32]) – A complete LIDAR scan.radius (
int) – Half of the width or height (in pixels) of the generated image.max_range (
int) – The farthest depth to show in the image in cm. Anything past this depth is shown as black.highlighted_samples (
List[Tuple[float,float]]) – A list of samples in (angle, distance) format to show as light blue dots. Angle must be in degrees from straight ahead (clockwise), and distance must be in cm.
Note
Each sample in samples is shown as a red pixel. Each sample in highlighted_samples is shown as a blue pixel. The car is shown as a green dot at the center of the visualization.
Warning
samples must be a complete LIDAR scan. This function assumes that each sample is equal angle appart, and that samples spans the entire 360 degrees. If this is not the case, the visualization will be inaccurate.
Example:
lidar_scan = rc.lidar.get_samples() # Show the lidar scan rc.display.show_lidar(lidar_scan) # Show the lidar scan out to 500 cm with the closest point highlighted closest_point = rc_utils.get_lidar_closest_point(lidar_scan) rc.display.show_lidar(lidar_scan, 500, [closest_point])
- Return type
None
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abstract