Class GazeboVideoRecorder

• Defined in File gazebo_video_recorder.h

Class Documentation

class GazeboVideoRecorder

Supports creating video recordings from a series of frames.

Apart from the simple camera stream, it features:

• picture-in-picture mode for a second camera stream on top of the main one

• quadrant mode with 4 camera streams shown in parallel next to each other

• logging of time metadata

• width: width of the video recording

• height: height of the video recording

• bitRate: bit rate of the video recording

• logMetadata (optional, defaults to false): flag to indicate whether to write time metadata on the video recording

• logWallTime (optional, defaults to false): flag to indicate whether to log wall or real time on the video recording (if logMetadata is enabled)

• addTimestampInFilename (optional, defaults to true): flag to indicate whether to append the start timestamp in the filename of the video recording

Note

Expects the following configuration:

Public Functions

GazeboVideoRecorder(const rclcpp::Node::SharedPtr &node, unsigned int fps, const std::string &ns, const std::string &name = "")

~GazeboVideoRecorder()

void load(const physics::WorldPtr &world, const sdf::ElementPtr &sdf)

void reset()

void setAddTimestampInFilename(bool state)

void start(const boost::filesystem::path &save_path, const std::string &file_timestamp, const common::Time &start_time)

std::string stop(bool discard, std::string filename = "")

void addFrame(const sensors::GvmMulticameraSensor::ImageDataPtr &data_main, const sensors::GvmMulticameraSensor::ImageDataPtr &data_window = nullptr)

void addMultiViewFrame(const sensors::GvmMulticameraSensor::ImageDataPtr &data_tl = nullptr, const sensors::GvmMulticameraSensor::ImageDataPtr &data_tr = nullptr, const sensors::GvmMulticameraSensor::ImageDataPtr &data_bl = nullptr, const sensors::GvmMulticameraSensor::ImageDataPtr &data_br = nullptr)