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expose video capture as logging command in b3RobotSimulatorClientAPI (C++) and pybullet (use STATE_LOGGING_VIDEO_MP4)

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This commit is contained in:
Erwin Coumans
2017-03-16 09:13:33 -07:00
parent b7b46b12d3
commit 59d16b2c42
16 changed files with 180 additions and 22 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -438,6 +438,31 @@ struct InternalStateLogger
};
struct VideoMP4Loggger : public InternalStateLogger
{
struct GUIHelperInterface* m_guiHelper;
std::string m_fileName;
VideoMP4Loggger(int loggerUid,const char* fileName,GUIHelperInterface* guiHelper)
:m_guiHelper(guiHelper)
{
m_fileName = fileName;
m_loggingUniqueId = loggerUid;
m_loggingType = STATE_LOGGING_VIDEO_MP4;
m_guiHelper->dumpFramesToVideo(fileName);
}
virtual void stop()
{
m_guiHelper->dumpFramesToVideo(0);
}
virtual void logState(btScalar timeStamp)
{
//dumping video frames happens in another thread
//we could add some overlay of timestamp here, if needed/wanted
}
};
struct MinitaurStateLogger : public InternalStateLogger
{
int m_loggingTimeStamp;
@@ -1797,6 +1822,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
{
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
{
if (clientCmd.m_stateLoggingArguments.m_fileName)
{
int loggerUid = m_data->m_stateLoggersUniqueId++;
VideoMP4Loggger* logger = new VideoMP4Loggger(loggerUid,clientCmd.m_stateLoggingArguments.m_fileName,this->m_data->m_guiHelper);
m_data->m_stateLoggers.push_back(logger);
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_MINITAUR)
{