hi, everyone, I have the same problem with this http://answers.gazebosim.org/question..., I want to read the images from a camera in the gazebo 6.5, and input the images to the c++ program of image processing. I try to follow the above tips to change the code of CameraDump::OnNewFrame(), but I it is not working. So, can anybody give me hands or show me how you did it? Thanks a lot!
the image data is given by the unsigned char *_image variable. You also get width, height, and format (R8G8B8 for a standard camera) information in the callback, you should be able to feed those to your image processing program.
I would suggest to use the plugin and get the image data that way. You have a pointer to the image data in memory. Can you describe what you mean by not working? Does this example save frames in the tmp folder? https://bitbucket.org/osrf/gazebo/src/ada35b395c9d/examples/plugins/camera/?at=gazebo6
hi, Now, the camera_dump.cc and camera_move.cc is working, The image was saved in the folder and the camera was moving. But, I want to read image data in memory, not save in disk. Because I need image data to do image processing real time. Does the function GetImageData() read image data? I try to using GetImageData() to read image data, but it always returns NULL. Maybe I do not know how to use GetImageData(). Can help me? Thanks a lot!
if you look at camera_dump, it calls this->parentSensor->GetCamera()->SaveFrame and pass in the _image data. So just modify the plugin to not call that function and it won't save to disk. To change update rate, edit the world file and change the update rate for the camera sensor.
Asked: 2017-08-14 05:06:58 -0600
Seen: 4,159 times
Last updated: Aug 14 '17
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actually, my question is about the example https://bitbucket.org/osrf/gazebo/src/ada35b395c9d/examples/plugins/camera/?at=gazebo6 mentioned in the answer