Documentation: RobotLocomotion/drake@78c4c4f

doxygen_cxx/classdrake_1_1geometry_1_1render_1_1_color_render_camera.html

@@ -371,6 +371,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ace4c47773d7612ddd9396fb4
 </div><div class="memdoc">
 
 <p>If true, requests that the <a class="el" href="classdrake_1_1geometry_1_1render_1_1_render_engine.html" title="The engine for performing rasterization operations on geometry.">RenderEngine</a> display the rendered image. </p>
+<p>Whether or not the image is able to be displayed depends on the specific render engine and its configuration. </p>
 
 </div>
 </div>

doxygen_cxx/namespacedrake_1_1geometry.html

@@ -1400,6 +1400,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a18b9a919046a97500f422a85
 
 <p>Constructs a RenderEngine implementation which uses a VTK-based OpenGL renderer. </p>
 <dl class="section warning"><dt>Warning</dt><dd>On macOS, we've observed that RenderEngineVtk sometimes does not obey <a class="el" href="classdrake_1_1geometry_1_1render_1_1_color_render_camera.html#ace4c47773d7612ddd9396fb4e958058a" title="If true, requests that the RenderEngine display the rendered image.">render::ColorRenderCamera::show_window</a> when it's set to <code>true</code>. Refer to issue <a href="https://github.com/RobotLocomotion/drake/issues/20144">#20144</a> for further discussion.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>On Ubuntu, <a class="el" href="classdrake_1_1geometry_1_1render_1_1_color_render_camera.html#ace4c47773d7612ddd9396fb4e958058a" title="If true, requests that the RenderEngine display the rendered image.">render::ColorRenderCamera::show_window</a> only shows a window when <a class="el" href="structdrake_1_1geometry_1_1_render_engine_vtk_params.html#a8ea4310382b496e8e4efc05c73409cbc" title="Controls which graphics library will be used to perform the rendering.">RenderEngineVtkParams::backend</a> is set to "GLX"; the default backend value of "EGL" cannot show a window.</dd></dl>
 <p><a class="anchor" id="render_engine_vtk_properties"></a> </p><h2>Geometry perception properties</h2>
 <p>This RenderEngine implementation looks for the following properties when registering visual geometry, categorized by rendered image type.</p>
 <h3>RGB images</h3>

doxygen_cxx/structdrake_1_1geometry_1_1_render_engine_vtk_params.html

@@ -245,7 +245,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8ea4310382b496e8e4efc05c
 
 <p>Controls which graphics library will be used to perform the rendering. </p>
 <p>Permissible values are the empty string (default), "GLX", "EGL", and "Cocoa". Any other value will throw an error.</p>
-<p>By default (i.e., when set to the empty string) the render engine will choose which library to use. At the moment the default is "Cocoa" on macOS and "GLX" on Linux, but we anticipate changing the default in the future.</p>
+<p>By default (i.e., when set to the empty string) the render engine will choose which library to use. At the moment the default is "Cocoa" on macOS and "EGL" on Linux.</p>
 <p>If the option is set to one of the permissible values but the related graphics library has not been compiled into current build (e.g., "GLX" on macOS), then the default choice (empty string) will be used instead, with a warning. </p>
 
 </div>

doxygen_cxx/structdrake_1_1systems_1_1sensors_1_1_camera_config.html

@@ -787,7 +787,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a9dc0967f9d639aaf80a08151
 </div><div class="memdoc">
 
 <p>Controls whether the rendered RGB and/or label images are displayed (in separate windows controlled by the thread in which the camera images are rendered). </p>
-<p>As both image types are rendered from <code>ColorRenderCamera</code>, it applies to both of them and depends on whether the RenderEngine instance supports it.</p>
+<p>Because both RGB and label images are configured from the same <code>ColorRenderCamera</code>, this setting applies to both images. Even when set to true, whether or not the image is able to be displayed depends on the specific render engine and its configuration.</p>
 <p>Note: This flag is intended for quick debug use during development instead of serving as an image viewer. Currently, there are known issues, e.g., flickering windows when multiple cameras share the same renderer or upside-down images if RenderEngineGl is set. See issue #18862 for the proposal to visualize images via Meldis. </p>
 
 </div>

pydrake/pydrake.geometry.html

@@ -839,7 +839,9 @@ <h1>pydrake.geometry<a class="headerlink" href="#pydrake-geometry" title="Permal
 <dl class="py method">
 <dt class="sig sig-object py" id="pydrake.geometry.ColorRenderCamera.show_window">
 <span class="sig-name descname"><span class="pre">show_window</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#pydrake.geometry.ColorRenderCamera" title="pydrake.geometry.ColorRenderCamera"><span class="pre">pydrake.geometry.ColorRenderCamera</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#pydrake.geometry.ColorRenderCamera.show_window" title="Permalink to this definition"></a></dt>
-<dd><p>If true, requests that the RenderEngine display the rendered image.</p>
+<dd><p>If true, requests that the RenderEngine display the rendered image.
+Whether or not the image is able to be displayed depends on the
+specific render engine and its configuration.</p>
 </dd></dl>
 
 </dd></dl>
@@ -3948,6 +3950,12 @@ <h1>pydrake.geometry<a class="headerlink" href="#pydrake-geometry" title="Permal
 <code class="docutils literal notranslate"><span class="pre">True</span></code>. Refer to issue <a class="reference external" href="https://github.com/RobotLocomotion/drake/issues/20144">#20144</a> for
 further discussion.</p>
 </div>
+<div class="admonition note">
+<p class="admonition-title">Note</p>
+<p>On Ubuntu, render::ColorRenderCamera::show_window only shows a
+window when RenderEngineVtkParams::backend is set to “GLX”; the
+default backend value of “EGL” cannot show a window.</p>
+</div>
 <p>This RenderEngine implementation looks for the following properties
 when registering visual geometry, categorized by rendered image type.</p>
 <p><strong>RGB images</strong></p>
@@ -9896,8 +9904,7 @@ <h1>pydrake.geometry<a class="headerlink" href="#pydrake-geometry" title="Permal
 “Cocoa”. Any other value will throw an error.</p>
 <p>By default (i.e., when set to the empty string) the render engine will
 choose which library to use. At the moment the default is “Cocoa” on
-macOS and “GLX” on Linux, but we anticipate changing the default in
-the future.</p>
+macOS and “EGL” on Linux.</p>
 <p>If the option is set to one of the permissible values but the related
 graphics library has not been compiled into current build (e.g., “GLX”
 on macOS), then the default choice (empty string) will be used

pydrake/pydrake.systems.sensors.html

@@ -620,9 +620,10 @@
 <em class="property"><span class="pre">property</span><span class="w"> </span></em><span class="sig-name descname"><span class="pre">show_rgb</span></span><a class="headerlink" href="#pydrake.systems.sensors.CameraConfig.show_rgb" title="Permalink to this definition"></a></dt>
 <dd><p>Controls whether the rendered RGB and/or label images are displayed
 (in separate windows controlled by the thread in which the camera
-images are rendered). As both image types are rendered from
-<code class="docutils literal notranslate"><span class="pre">ColorRenderCamera</span></code>, it applies to both of them and depends on
-whether the RenderEngine instance supports it.</p>
+images are rendered). Because both RGB and label images are configured
+from the same <code class="docutils literal notranslate"><span class="pre">ColorRenderCamera</span></code>, this setting applies to both
+images. Even when set to true, whether or not the image is able to be
+displayed depends on the specific render engine and its configuration.</p>
 <p>Note: This flag is intended for quick debug use during development
 instead of serving as an image viewer. Currently, there are known
 issues, e.g., flickering windows when multiple cameras share the same