Some issues about the images capture in gazebo

asked 2017-05-14 08:53:48 -0600

shin
41 ●8 ●9 ●13

By the tutorial in http://gazebosim.org/tutorials?tut=sy..., I can get the images of gazebo. However, I have some questions about this plugin:

1) The frequency of images capture is too high, if I want to get only one image in one second, what should I do?

2) This way needs to open gzclient, can I get images without gzclient, just by gzserver ?

3) The images captured are jpg format, can I get rgb image by this way ?

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answered 2017-05-15 14:06:06 -0600

iche033
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1) in your plugin, you can probably keep track of the update timing yourself and toggle EnableSaveFrame to save images as the desired rate

2) you'll need to use a sensor plugin attached to a camera sensor. That system plugin uses user camera which is only available on the client side. When using a camera sensor, you can just set the update rate to 1H (to save one image a second), which saves you from having to keep tracking of timing as mentioned in 1)

3) yes

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Could you please tell me how to deal with the third problem?

shin ( 2017-05-18 06:01:26 -0600 )edit

I have post a detailed problem, would you mind give me a hand? http://answers.gazebosim.org/question/16214/how-to-get-image-without-storing-into-disk-from-gazebo/

shin ( 2017-05-21 19:56:31 -0600 )edit

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answered 2017-05-15 16:18:37 -0600

sloretz
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Images can be saved without creating a plugin using a camera sensor and <save enable="true">. See this tutorial on making a video from a camera in gazebo: http://gazebosim.org/tutorials?tut=ca...

The frequency that images are captured is controlled by the parameter <update_rate>. Gzclient does not need to be open. I beleive jpg is the only output format from this method.

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I have tried this way, and I find it can only get a small range of the world, for example, from its position, I want it to get the image of a desk, but it only catch its legs, I have not found any parameter to modify it, could you give me a hand? Besides, I find that only the first image has correct content, other images are all blank, I do not change its position, and I have no idea about this case.

shin ( 2017-05-17 04:04:01 -0600 )edit

If the image isn't showing the part of the world you're interested in, then the camera position or parameters need to be modified to get a different image. Camera parameters are here http://sdformat.org/spec?ver=1.6&elem=sensor#sensor_camera You might be interested in `<horizontal_fov>`, `<width>`, `<height>`. or the `<pose>` on the `<sensor>` itself.

sloretz ( 2017-05-17 09:02:01 -0600 )edit

I have tried to changed the width and height, and I find the two parameters have no effect in the content of the images, just decide the size of images. Parameter horizontal_fov just change the perspective, I still get part of the desk with the parameter changed. I am afraid these parameter have no effect in this problem, by the way, why does the first image have correct content, and other images are all blank?

shin ( 2017-05-17 10:18:00 -0600 )edit

Interesting. Would you mind posting a world that reproduces the issue?

sloretz ( 2017-05-17 10:31:36 -0600 )edit

The world file is in this website : https://bitbucket.org/osrf/handsim/src/8fe03d4d113659c1cc04ea788792b1b7e995c267/worlds/arat.world?at=default&fileviewer=file-view-default . And I add the camera sensor codes in about 350th line.

shin ( 2017-05-18 03:00:46 -0600 )edit

I am sorry to bother you with another problem: http://answers.gazebosim.org/question/16214/how-to-use-plugin-to-get-image-from-gazebo/ Could you please give me a hand?

shin ( 2017-05-20 09:44:11 -0600 )edit

I am sorry to bother you with a new problem:http://answers.gazebosim.org/question/16214/how-to-use-plugin-to-get-image-from-gazebo/ Could you please give me a hand?

shin ( 2017-05-20 09:44:43 -0600 )edit

I have modified the new problem, would you mind give me a hand? http://answers.gazebosim.org/question/16214/how-to-get-image-without-storing-into-disk-from-gazebo/

shin ( 2017-05-21 19:56:02 -0600 )edit

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Some issues about the images capture in gazebo

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