Add ability to record video based on sim time (#414)

* add ability to record video from gui camera using sim time

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* add msg

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

* use QueryBoolText

Signed-off-by: Ian Chen <ichen@osrfoundation.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
Co-authored-by: Louise Poubel <louise@openrobotics.org>

include/ignition/gazebo/rendering/RenderUtil.hh

@@ -119,6 +119,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// Returns reference to the marker manager.
     public: class MarkerManager &MarkerManager();
 
+    /// \brief Get simulation time that the current rendering state corresponds
+    /// to
+    /// \returns Simulation time.
+    public: std::chrono::steady_clock::duration SimTime() const;
+
     /// \brief Set the entity being selected
     /// \param[in] _node Node representing the selected entity
     /// \TODO(anyone) Make const ref when merging forward

src/gui/plugins/scene3d/Scene3D.cc

@@ -198,6 +198,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// \brief Path to save the recorded video
     public: std::string recordVideoSavePath;
 
+    /// \brief Use sim time as timestamp during video recording
+    /// By default (false), video encoding is done using real time.
+    public: bool recordVideoUseSimTime = false;
+
     /// \brief Target to move the user camera to
     public: std::string moveToTarget;
 
@@ -489,12 +493,22 @@ void IgnRenderer::Render()
       if (this->dataPtr->videoEncoder.IsEncoding())
       {
         this->dataPtr->camera->Copy(this->dataPtr->cameraImage);
+
+        std::chrono::steady_clock::time_point t =
+            std::chrono::steady_clock::now();
+        if (this->dataPtr->recordVideoUseSimTime)
+        {
+          t = std::chrono::steady_clock::time_point(
+              this->dataPtr->renderUtil.SimTime());
+        }
         this->dataPtr->videoEncoder.AddFrame(
-            this->dataPtr->cameraImage.Data<unsigned char>(), width, height);
+            this->dataPtr->cameraImage.Data<unsigned char>(), width, height, t);
       }
       // Video recorder is idle. Start recording.
       else
       {
+        if (this->dataPtr->recordVideoUseSimTime)
+          ignmsg << "Recording video using sim time." << std::endl;
         this->dataPtr->videoEncoder.Start(this->dataPtr->recordVideoFormat,
             this->dataPtr->recordVideoSavePath, width, height);
       }
@@ -1715,6 +1729,13 @@ void IgnRenderer::SetRecordVideo(bool _record, const std::string &_format,
   this->dataPtr->recordVideoSavePath = _savePath;
 }
 
+/////////////////////////////////////////////////
+void IgnRenderer::SetRecordVideoUseSimTime(bool _useSimTime)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
+  this->dataPtr->recordVideoUseSimTime = _useSimTime;
+}
+
 /////////////////////////////////////////////////
 void IgnRenderer::SetMoveTo(const std::string &_target)
 {
@@ -2331,6 +2352,23 @@ void Scene3D::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
       }
     }
 
+    if (auto elem = _pluginElem->FirstChildElement("record_video"))
+    {
+      if (auto useSimTimeElem = elem->FirstChildElement("use_sim_time"))
+      {
+        bool useSimTime = false;
+        if (useSimTimeElem->QueryBoolText(&useSimTime) != tinyxml2::XML_SUCCESS)
+        {
+          ignerr << "Faild to parse <use_sim_time> value: "
+                 << useSimTimeElem->GetText() << std::endl;
+        }
+        else
+        {
+          renderWindow->SetRecordVideoUseSimTime(useSimTime);
+        }
+      }
+    }
+
     if (auto elem = _pluginElem->FirstChildElement("fullscreen"))
     {
       auto fullscreen = false;
@@ -2815,6 +2853,13 @@ void RenderWindowItem::SetWorldName(const std::string &_name)
   this->dataPtr->renderThread->ignRenderer.worldName = _name;
 }
 
+/////////////////////////////////////////////////
+void RenderWindowItem::SetRecordVideoUseSimTime(bool _useSimTime)
+{
+  this->dataPtr->renderThread->ignRenderer.SetRecordVideoUseSimTime(
+      _useSimTime);
+}
+
 /////////////////////////////////////////////////
 void RenderWindowItem::OnHovered(const ignition::math::Vector2i &_hoverPos)
 {

src/gui/plugins/scene3d/Scene3D.hh

@@ -206,6 +206,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: void SetRecordVideo(bool _record, const std::string &_format,
         const std::string &_savePath);
 
+    /// \brief Set whether to record video using sim time as timestamp
+    /// \param[in] _true True record video using sim time
+    public: void SetRecordVideoUseSimTime(bool _useSimTime);
+
     /// \brief Move the user camera to move to the speficied target
     /// \param[in] _target Target to move the camera to
     public: void SetMoveTo(const std::string &_target);
@@ -521,6 +525,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     public: void SetRecordVideo(bool _record, const std::string &_format,
         const std::string &_savePath);
 
+    /// \brief Set whether to record video using sim time as timestamp
+    /// \param[in] _true True record video using sim time
+    public: void SetRecordVideoUseSimTime(bool _useSimTime);
+
     /// \brief Move the user camera to move to the specified target
     /// \param[in] _target Target to move the camera to
     public: void SetMoveTo(const std::string &_target);

src/rendering/RenderUtil.cc

@@ -1153,6 +1153,13 @@ MarkerManager &RenderUtil::MarkerManager()
   return this->dataPtr->markerManager;
 }
 
+//////////////////////////////////////////////////
+std::chrono::steady_clock::duration RenderUtil::SimTime() const
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->updateMutex);
+  return this->dataPtr->simTime;
+}
+
 /////////////////////////////////////////////////
 // NOLINTNEXTLINE
 void RenderUtil::SetSelectedEntity(rendering::NodePtr _node)