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gazebo::GstCameraPlugin

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#include <gazebo_gst_camera_plugin.hh>

Inherits from SensorPlugin

Public Functions

Name
GstCameraPlugin()
virtual ~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()
void stopGstThread()
void gstCallback(GstElement * appsrc)
void cbVideoStream(const boost::shared_ptr< const msgs::Int > & _msg)

Protected Attributes

Name
unsigned int width
unsigned int height
unsigned int depth
float rate
std::string format
std::string udpHost
int udpPort
bool useRtmp
std::string rtmpLocation
bool useCuda
sensors::CameraSensorPtr parentSensor
rendering::CameraPtr camera

Detailed Description

class gazebo::GstCameraPlugin;

A Gazebo plugin that can be attached to a camera and then streams the video data using gstreamer. It streams to a configurable UDP IP and UDP Port, defaults are respectively 127.0.0.1 and 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

Public Functions Documentation

function GstCameraPlugin

GstCameraPlugin()

function ~GstCameraPlugin

virtual ~GstCameraPlugin()

function Load

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

function OnNewFrame

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

function startGstThread

void startGstThread()

function stopGstThread

void stopGstThread()

function gstCallback

void gstCallback(
    GstElement * appsrc
)

function cbVideoStream

void cbVideoStream(
    const boost::shared_ptr< const msgs::Int > & _msg
)

Protected Attributes Documentation

variable width

unsigned int width;

variable height

unsigned int height;

variable depth

unsigned int depth;

variable rate

float rate;

variable format

std::string format;

variable udpHost

std::string udpHost;

variable udpPort

int udpPort;

variable useRtmp

bool useRtmp;

variable rtmpLocation

std::string rtmpLocation;

variable useCuda

bool useCuda;

variable parentSensor

sensors::CameraSensorPtr parentSensor;

variable camera

rendering::CameraPtr camera;

Updated on 2022-06-01 at 12:37:01 +0000

Last update: June 1, 2022
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