gazebo::GstCameraPlugin Class Reference

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>

Inheritance diagram for gazebo::GstCameraPlugin:

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::GstCameraPlugin

(

)

Definition at line 161 of file gazebo_gst_camera_plugin.cpp.

~GstCameraPlugin()

GstCameraPlugin::~GstCameraPlugin ( )

virtual

Definition at line 168 of file gazebo_gst_camera_plugin.cpp.

Member Function Documentation

gstCallback()

void GstCameraPlugin::gstCallback

(

GstElement *

appsrc

)

Definition at line 43 of file gazebo_gst_camera_plugin.cpp.

Load()

void GstCameraPlugin::Load ( sensors::SensorPtr  sensor, sdf::ElementPtr  sdf  )

virtual

Definition at line 183 of file gazebo_gst_camera_plugin.cpp.

OnNewFrame()

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

virtual

Definition at line 246 of file gazebo_gst_camera_plugin.cpp.

startGstThread()

void GstCameraPlugin::startGstThread

(

)

Definition at line 76 of file gazebo_gst_camera_plugin.cpp.

Member Data Documentation

camera

rendering::CameraPtr gazebo::GstCameraPlugin::camera

protected

Definition at line 66 of file gazebo_gst_camera_plugin.h.

depth

unsigned int gazebo::GstCameraPlugin::depth

protected

Definition at line 59 of file gazebo_gst_camera_plugin.h.

format

std::string gazebo::GstCameraPlugin::format

protected

Definition at line 61 of file gazebo_gst_camera_plugin.h.

frameBuffer

GstBuffer* gazebo::GstCameraPlugin::frameBuffer

private

Definition at line 74 of file gazebo_gst_camera_plugin.h.

frameBufferMutex

std::mutex gazebo::GstCameraPlugin::frameBufferMutex

private

Definition at line 75 of file gazebo_gst_camera_plugin.h.

gstTimestamp

GstClockTime gazebo::GstCameraPlugin::gstTimestamp

private

Definition at line 77 of file gazebo_gst_camera_plugin.h.

height

unsigned int gazebo::GstCameraPlugin::height

protected

Definition at line 59 of file gazebo_gst_camera_plugin.h.

mainLoop

GMainLoop* gazebo::GstCameraPlugin::mainLoop

private

Definition at line 76 of file gazebo_gst_camera_plugin.h.

namespace_

std::string gazebo::GstCameraPlugin::namespace_

private

Definition at line 71 of file gazebo_gst_camera_plugin.h.

newFrameConnection

event::ConnectionPtr gazebo::GstCameraPlugin::newFrameConnection

private

Definition at line 68 of file gazebo_gst_camera_plugin.h.

node_handle_

transport::NodePtr gazebo::GstCameraPlugin::node_handle_

private

Definition at line 70 of file gazebo_gst_camera_plugin.h.

parentSensor

sensors::CameraSensorPtr gazebo::GstCameraPlugin::parentSensor

protected

Definition at line 65 of file gazebo_gst_camera_plugin.h.

rate

float gazebo::GstCameraPlugin::rate

protected

Definition at line 60 of file gazebo_gst_camera_plugin.h.

topicName

const std::string gazebo::GstCameraPlugin::topicName = "gst_video"

private

Definition at line 72 of file gazebo_gst_camera_plugin.h.

udpPort

int gazebo::GstCameraPlugin::udpPort

protected

Definition at line 63 of file gazebo_gst_camera_plugin.h.

width

unsigned int gazebo::GstCameraPlugin::width

protected

Definition at line 59 of file gazebo_gst_camera_plugin.h.

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

• gazebo_gst_camera_plugin.h
• gazebo_gst_camera_plugin.cpp