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

#include <gazebo_multi_view_monitor_plugin.h>

Inheritance diagram for gazebo::GazeboMultiViewMonitorPlugin:

Public Member Functions
	GazeboMultiViewMonitorPlugin ()

virtual void	Load (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override

virtual void	Reset () override

virtual	~GazeboMultiViewMonitorPlugin () 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)

const ImageDataPtrVector::value_type &	getImage (const ImageDataPtrVector &images, size_t i) const

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_

ImageDataPtrVector::value_type	image_null_

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 with up to 4 camera streams shown in parallel in the 4 quadrants of the videos. The source streams can be configured from a pool of n cameras and can be changed dynamically during the recording. 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_view_monitor_plugin.h.

Constructor & Destructor Documentation

◆ GazeboMultiViewMonitorPlugin()

gazebo::GazeboMultiViewMonitorPlugin::GazeboMultiViewMonitorPlugin ( )

Definition at line 25 of file gazebo_multi_view_monitor_plugin.cpp.

◆ ~GazeboMultiViewMonitorPlugin()

gazebo::GazeboMultiViewMonitorPlugin::~GazeboMultiViewMonitorPlugin ( )

overridevirtual

Definition at line 31 of file gazebo_multi_view_monitor_plugin.cpp.

Member Function Documentation

◆ cameraSelect()

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

private

Definition at line 122 of file gazebo_multi_view_monitor_plugin.cpp.

◆ cameraSelectCallback()

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

private

Definition at line 137 of file gazebo_multi_view_monitor_plugin.cpp.

◆ cameraSelectRosCallback()

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

private

Definition at line 145 of file gazebo_multi_view_monitor_plugin.cpp.

◆ getImage()

const GazeboMonitorBasePlugin::ImageDataPtrVector::value_type & gazebo::GazeboMultiViewMonitorPlugin::getImage	(	const ImageDataPtrVector &	images,
		size_t	i
	)		const

private

Definition at line 115 of file gazebo_multi_view_monitor_plugin.cpp.

◆ initRos()

void gazebo::GazeboMultiViewMonitorPlugin::initRos ( )

overrideprivatevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 73 of file gazebo_multi_view_monitor_plugin.cpp.

◆ Load()

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

overridevirtual

Reimplemented from gazebo::GazeboMonitorBasePlugin.

Definition at line 35 of file gazebo_multi_view_monitor_plugin.cpp.

◆ onNewImages()

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

overrideprivatevirtual

Implements gazebo::GazeboMonitorBasePlugin.

Definition at line 105 of file gazebo_multi_view_monitor_plugin.cpp.

◆ Reset()

void gazebo::GazeboMultiViewMonitorPlugin::Reset ( )

overridevirtual

Definition at line 68 of file gazebo_multi_view_monitor_plugin.cpp.

◆ startRecordingServiceCallback()

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

private

Definition at line 157 of file gazebo_multi_view_monitor_plugin.cpp.

◆ stopRecording()

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

private

Definition at line 151 of file gazebo_multi_view_monitor_plugin.cpp.

◆ stopRecordingServiceCallback()

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

private

Definition at line 182 of file gazebo_multi_view_monitor_plugin.cpp.

Member Data Documentation

◆ camera_indices_

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

private

Definition at line 92 of file gazebo_multi_view_monitor_plugin.h.

◆ camera_name_to_index_map_

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

private

Definition at line 91 of file gazebo_multi_view_monitor_plugin.h.

◆ camera_select_ros_subscriber_

ros::Subscriber gazebo::GazeboMultiViewMonitorPlugin::camera_select_ros_subscriber_

private

Definition at line 89 of file gazebo_multi_view_monitor_plugin.h.

◆ camera_select_subscriber_

transport::SubscriberPtr gazebo::GazeboMultiViewMonitorPlugin::camera_select_subscriber_

private

Definition at line 88 of file gazebo_multi_view_monitor_plugin.h.

◆ image_null_

ImageDataPtrVector::value_type gazebo::GazeboMultiViewMonitorPlugin::image_null_

private

Definition at line 93 of file gazebo_multi_view_monitor_plugin.h.

◆ node_

transport::NodePtr gazebo::GazeboMultiViewMonitorPlugin::node_

private

Definition at line 87 of file gazebo_multi_view_monitor_plugin.h.

◆ recorder_

GazeboVideoRecorderPtr gazebo::GazeboMultiViewMonitorPlugin::recorder_

private

Definition at line 95 of file gazebo_multi_view_monitor_plugin.h.

◆ recorder_mutex_

std::mutex gazebo::GazeboMultiViewMonitorPlugin::recorder_mutex_

private

Definition at line 96 of file gazebo_multi_view_monitor_plugin.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GazeboMultiViewMonitorPlugin()

◆ ~GazeboMultiViewMonitorPlugin()

Member Function Documentation

◆ cameraSelect()

◆ cameraSelectCallback()

◆ cameraSelectRosCallback()

◆ getImage()

◆ initRos()

◆ Load()

◆ onNewImages()

◆ Reset()

◆ startRecordingServiceCallback()

◆ stopRecording()

◆ stopRecordingServiceCallback()

Member Data Documentation

◆ camera_indices_

◆ camera_name_to_index_map_

◆ camera_select_ros_subscriber_

◆ camera_select_subscriber_

◆ image_null_

◆ node_

◆ recorder_

◆ recorder_mutex_