gazebo::GazeboMultiVideoMonitorPlugin Class Reference

Provides a ROS interface for creating multiple videos from different cameras, all recording in the same time period. More...

#include <gazebo_multi_video_monitor_plugin.h>

Inheritance diagram for gazebo::GazeboMultiVideoMonitorPlugin:

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

Private Member Functions
virtual void	initRos () override
virtual void	onNewImages (const ImageDataPtrVector &images) override
bool	startRecordingServiceCallback (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
bool	stopRecording (bool discard, boost::filesystem::path group_directory="")
bool	stopRecordingServiceCallback (gazebo_video_monitor_msgs::StopRecordingRequest &req, gazebo_video_monitor_msgs::StopRecordingResponse &res)

Private Attributes
bool	add_timestamp_in_filename_
std::string	file_timestamp_
std::unordered_map< std::string, GazeboVideoRecorderPtr >	recorders_
std::mutex	recorders_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 multiple videos from different cameras, all recording in the same time period.

Reads the n cameras managed by the parent sensor, records n videos, and saves the videos under a group directory. 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
• 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 58 of file gazebo_multi_video_monitor_plugin.h.

Constructor & Destructor Documentation

GazeboMultiVideoMonitorPlugin()

gazebo::GazeboMultiVideoMonitorPlugin::GazeboMultiVideoMonitorPlugin

(

)

Definition at line 25 of file gazebo_multi_video_monitor_plugin.cpp.

~GazeboMultiVideoMonitorPlugin()

gazebo::GazeboMultiVideoMonitorPlugin::~GazeboMultiVideoMonitorPlugin ( )

overridevirtual

Definition at line 29 of file gazebo_multi_video_monitor_plugin.cpp.

Member Function Documentation

initRos()

void gazebo::GazeboMultiVideoMonitorPlugin::initRos ( )

overrideprivatevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 68 of file gazebo_multi_video_monitor_plugin.cpp.

Load()

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

overridevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 33 of file gazebo_multi_video_monitor_plugin.cpp.

onNewImages()

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

overrideprivatevirtual

Implements gazebo::GazeboMonitorBasePlugin.

Definition at line 90 of file gazebo_multi_video_monitor_plugin.cpp.

Reset()

void gazebo::GazeboMultiVideoMonitorPlugin::Reset ( )

overridevirtual

Definition at line 63 of file gazebo_multi_video_monitor_plugin.cpp.

startRecordingServiceCallback()

bool gazebo::GazeboMultiVideoMonitorPlugin::startRecordingServiceCallback ( std_srvs::EmptyRequest &  req, std_srvs::EmptyResponse &  res  )

private

Definition at line 112 of file gazebo_multi_video_monitor_plugin.cpp.

stopRecording()

bool gazebo::GazeboMultiVideoMonitorPlugin::stopRecording ( bool  discard, boost::filesystem::path  group_directory = ""  )

private

Definition at line 98 of file gazebo_multi_video_monitor_plugin.cpp.

stopRecordingServiceCallback()

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

private

Definition at line 135 of file gazebo_multi_video_monitor_plugin.cpp.

Member Data Documentation

add_timestamp_in_filename_

bool gazebo::GazeboMultiVideoMonitorPlugin::add_timestamp_in_filename_

private

Definition at line 79 of file gazebo_multi_video_monitor_plugin.h.

file_timestamp_

std::string gazebo::GazeboMultiVideoMonitorPlugin::file_timestamp_

private

Definition at line 80 of file gazebo_multi_video_monitor_plugin.h.

recorders_

std::unordered_map<std::string, GazeboVideoRecorderPtr> gazebo::GazeboMultiVideoMonitorPlugin::recorders_

private

Definition at line 76 of file gazebo_multi_video_monitor_plugin.h.

recorders_mutex_

std::mutex gazebo::GazeboMultiVideoMonitorPlugin::recorders_mutex_

private

Definition at line 77 of file gazebo_multi_video_monitor_plugin.h.

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

• gazebo_multi_video_monitor_plugin.h
• gazebo_multi_video_monitor_plugin.cpp