gazebo::GazeboMultiCameraMonitorPlugin Class Reference

Provides a ROS interface for creating multi-camera videos. More...

#include <gazebo_multi_camera_monitor_plugin.h>

Inheritance diagram for gazebo::GazeboMultiCameraMonitorPlugin:

Public Member Functions
	GazeboMultiCameraMonitorPlugin ()
virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override
virtual void	Reset () override
virtual	~GazeboMultiCameraMonitorPlugin () override
Public Member Functions inherited from gazebo::GazeboMonitorBasePlugin
	GazeboMonitorBasePlugin (const std::string &name)
virtual void	Init () override
virtual	~GazeboMonitorBasePlugin () override

Private Member Functions
void	cameraSelect (const std::vector< std::string > &names)
void	cameraSelectCallback (const boost::shared_ptr< const ignition::msgs::StringMsg_V > &msg)
void	cameraSelectRosCallback (const gazebo_video_monitor_msgs::StringsConstPtr &msg)
virtual void	initRos () override
virtual void	onNewImages (const ImageDataPtrVector &images) override
bool	startRecordingServiceCallback (gazebo_video_monitor_msgs::StartGmcmRecordingRequest &req, gazebo_video_monitor_msgs::StartGmcmRecordingResponse &res)
std::string	stopRecording (bool discard, std::string filename="")
bool	stopRecordingServiceCallback (gazebo_video_monitor_msgs::StopRecordingRequest &req, gazebo_video_monitor_msgs::StopRecordingResponse &res)

Private Attributes
std::vector< size_t >	camera_indices_
std::unordered_map< std::string, size_t >	camera_name_to_index_map_
ros::Subscriber	camera_select_ros_subscriber_
transport::SubscriberPtr	camera_select_subscriber_
transport::NodePtr	node_
GazeboVideoRecorderPtr	recorder_
std::mutex	recorder_mutex_

Additional Inherited Members
Public Types inherited from gazebo::GazeboMonitorBasePlugin
using	ImageDataPtrVector = std::vector< sensors::GvmMulticameraSensor::ImageDataPtr >
Protected Member Functions inherited from gazebo::GazeboMonitorBasePlugin
RefModelConfigConstPtr	getCameraRefConfig (const std::string &name) const
void	initialize ()
Protected Attributes inherited from gazebo::GazeboMonitorBasePlugin
const std::string	logger_prefix_
ros::NodeHandlePtr	nh_
boost::filesystem::path	save_path_
sdf::ElementPtr	sdf_
sensors::GvmMulticameraSensorPtr	sensor_
ros::ServiceServer	start_recording_service_
ros::ServiceServer	stop_recording_service_
physics::WorldPtr	world_

Detailed Description

Provides a ROS interface for creating multi-camera videos.

Records videos in which the stream can be configured from a pool of n cameras. The source camera can be changed dynamically during the recording. A second camera can be selected to be shown in picture-in-picture mode. Metadata can be shown in the videos, like real time, sim time, and elapsed real time since the start of the recording.

Note

The parent sensor can hold an arbitrary number of cameras. The pose of the cameras in their configuration can be wrt the sensor parent, or any other model in the world. In the latter case, these models need to be specified in the plugin configuration.
Expects the following configuration (extends the configuration of GazeboMonitorBasePlugin):

• startRecordingService: name of the service for starting a recording
• stopRecordingService: name of the service for stopping and saving a recording
• cameraSelectTopic: name of the topic for selecting the cameras. One or two camera names are allowed in the messages.
• recorder: configuration of the video recorder (see GazeboVideoRecorder)
• cameraReference ([1-n] times): reference model configuration with a name attribute pointing to one of the sensor cameras (see parseRefModelConfig)

Definition at line 62 of file gazebo_multi_camera_monitor_plugin.h.

Constructor & Destructor Documentation

GazeboMultiCameraMonitorPlugin()

gazebo::GazeboMultiCameraMonitorPlugin::GazeboMultiCameraMonitorPlugin

(

)

Definition at line 26 of file gazebo_multi_camera_monitor_plugin.cpp.

~GazeboMultiCameraMonitorPlugin()

gazebo::GazeboMultiCameraMonitorPlugin::~GazeboMultiCameraMonitorPlugin ( )

overridevirtual

Definition at line 32 of file gazebo_multi_camera_monitor_plugin.cpp.

Member Function Documentation

cameraSelect()

void gazebo::GazeboMultiCameraMonitorPlugin::cameraSelect ( const std::vector< std::string > &  names )

private

Definition at line 118 of file gazebo_multi_camera_monitor_plugin.cpp.

cameraSelectCallback()

void gazebo::GazeboMultiCameraMonitorPlugin::cameraSelectCallback ( const boost::shared_ptr< const ignition::msgs::StringMsg_V > &  msg )

private

Definition at line 146 of file gazebo_multi_camera_monitor_plugin.cpp.

cameraSelectRosCallback()

void gazebo::GazeboMultiCameraMonitorPlugin::cameraSelectRosCallback ( const gazebo_video_monitor_msgs::StringsConstPtr &  msg )

private

Definition at line 154 of file gazebo_multi_camera_monitor_plugin.cpp.

initRos()

void gazebo::GazeboMultiCameraMonitorPlugin::initRos ( )

overrideprivatevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 75 of file gazebo_multi_camera_monitor_plugin.cpp.

Load()

void gazebo::GazeboMultiCameraMonitorPlugin::Load ( sensors::SensorPtr  _sensor, sdf::ElementPtr  _sdf  )

overridevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 36 of file gazebo_multi_camera_monitor_plugin.cpp.

onNewImages()

void gazebo::GazeboMultiCameraMonitorPlugin::onNewImages ( const ImageDataPtrVector &  images )

overrideprivatevirtual

Implements gazebo::GazeboMonitorBasePlugin.

Definition at line 107 of file gazebo_multi_camera_monitor_plugin.cpp.

Reset()

void gazebo::GazeboMultiCameraMonitorPlugin::Reset ( )

overridevirtual

Definition at line 70 of file gazebo_multi_camera_monitor_plugin.cpp.

startRecordingServiceCallback()

bool gazebo::GazeboMultiCameraMonitorPlugin::startRecordingServiceCallback ( gazebo_video_monitor_msgs::StartGmcmRecordingRequest &  req, gazebo_video_monitor_msgs::StartGmcmRecordingResponse &  res  )

private

Definition at line 166 of file gazebo_multi_camera_monitor_plugin.cpp.

stopRecording()

std::string gazebo::GazeboMultiCameraMonitorPlugin::stopRecording ( bool  discard, std::string  filename = ""  )

private

Definition at line 160 of file gazebo_multi_camera_monitor_plugin.cpp.

stopRecordingServiceCallback()

bool gazebo::GazeboMultiCameraMonitorPlugin::stopRecordingServiceCallback ( gazebo_video_monitor_msgs::StopRecordingRequest &  req, gazebo_video_monitor_msgs::StopRecordingResponse &  res  )

private

Definition at line 191 of file gazebo_multi_camera_monitor_plugin.cpp.

Member Data Documentation

camera_indices_

std::vector<size_t> gazebo::GazeboMultiCameraMonitorPlugin::camera_indices_

private

Definition at line 90 of file gazebo_multi_camera_monitor_plugin.h.

camera_name_to_index_map_

std::unordered_map<std::string, size_t> gazebo::GazeboMultiCameraMonitorPlugin::camera_name_to_index_map_

private

Definition at line 89 of file gazebo_multi_camera_monitor_plugin.h.

camera_select_ros_subscriber_

ros::Subscriber gazebo::GazeboMultiCameraMonitorPlugin::camera_select_ros_subscriber_

private

Definition at line 87 of file gazebo_multi_camera_monitor_plugin.h.

camera_select_subscriber_

transport::SubscriberPtr gazebo::GazeboMultiCameraMonitorPlugin::camera_select_subscriber_

private

Definition at line 86 of file gazebo_multi_camera_monitor_plugin.h.

node_

transport::NodePtr gazebo::GazeboMultiCameraMonitorPlugin::node_

private

Definition at line 85 of file gazebo_multi_camera_monitor_plugin.h.

recorder_

GazeboVideoRecorderPtr gazebo::GazeboMultiCameraMonitorPlugin::recorder_

private

Definition at line 92 of file gazebo_multi_camera_monitor_plugin.h.

recorder_mutex_

std::mutex gazebo::GazeboMultiCameraMonitorPlugin::recorder_mutex_

private

Definition at line 93 of file gazebo_multi_camera_monitor_plugin.h.

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

• gazebo_multi_camera_monitor_plugin.h
• gazebo_multi_camera_monitor_plugin.cpp