A Gazebo plugin that can be attached to a camera and then streams the video data using gstreamer. It streams to a configurable UDP port, default is 5600. More...

#include <gazebo_gst_camera_plugin.h>

Public Member Functions
void	gstCallback (GstElement *appsrc)
	GstCameraPlugin ()
virtual void	Load (sensors::SensorPtr sensor, sdf::ElementPtr sdf)
virtual void	OnNewFrame (const unsigned char *image, unsigned int width, unsigned int height, unsigned int depth, const std::string &format)
void	startGstThread ()
virtual	~GstCameraPlugin ()
Protected Attributes
rendering::CameraPtr	camera
unsigned int	depth
std::string	format
unsigned int	height
sensors::CameraSensorPtr	parentSensor
float	rate
int	udpPort
unsigned int	width
Private Attributes
GstBuffer *	frameBuffer
std::mutex	frameBufferMutex
GstClockTime	gstTimestamp
GMainLoop *	mainLoop
std::string	namespace_
event::ConnectionPtr	newFrameConnection
transport::NodePtr	node_handle_
const std::string	topicName = "gst_video"

Detailed Description

A Gazebo plugin that can be attached to a camera and then streams the video data using gstreamer. It streams to a configurable UDP port, default is 5600.

Connect to the stream via command line with: gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' \ ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink fps-update-interval=1000 sync=false

Definition at line 44 of file gazebo_gst_camera_plugin.h.

Constructor & Destructor Documentation

GstCameraPlugin::GstCameraPlugin ( )

Definition at line 161 of file gazebo_gst_camera_plugin.cpp.

GstCameraPlugin::~GstCameraPlugin ( ) [virtual]

Definition at line 168 of file gazebo_gst_camera_plugin.cpp.

Member Function Documentation

void GstCameraPlugin::gstCallback ( GstElement * appsrc )

Definition at line 43 of file gazebo_gst_camera_plugin.cpp.

void GstCameraPlugin::Load	(	sensors::SensorPtr	sensor,
		sdf::ElementPtr	sdf
	)		`[virtual]`

Definition at line 183 of file gazebo_gst_camera_plugin.cpp.

void GstCameraPlugin::OnNewFrame	(	const unsigned char *	image,
		unsigned int	width,
		unsigned int	height,
		unsigned int	depth,
		const std::string &	format
	)		`[virtual]`