`isaac_ros_h264_encoder`

Source code on GitHub.

Quickstart

Please see the quickstart from isaac_ros_h264_decoder.

To continue your exploration, check out the following suggested examples:

ros2 launch isaac_ros_h264_encoder isaac_ros_h264_encoder.launch.py input_width:=<"your input image width"> input_height:=<"your input image height">

ROS Parameter	Type	Default	Description
`input_width`	`uint32_t`	`1920`	The width of the input image.
`input_height`	`uint32_t`	`1200`	The height of the input image.
`qp`	`uint32_t`	`20`	The encoder constant QP value.
`hw_preset`	`uint32_t`	`0`	The encoder hardware preset type. The value can be an integer from `0` to `3`, representing `Ultrafast`, `Fast`, `Medium` and, `Slow`, respectively.
`profile`	`uint32_t`	`0`	The profile to be used for encoding. The value can be an integer from `0` to `2`, representing `Main`, `Baseline`, and `High`, respectively.
`iframe_interval`	`int32_t`	`5`	Interval between two I frames, in number of frames. E.g., `iframe_interval=5` represents `IPPPPI...`, `iframe_interval=1` represents I frame only
`config`	`std::string`	`pframe_cqp`	A preset combination of `qp`, `hw_preset`, `profile` and `iframe_interval`. The value can be `iframe_cqp`, `pframe_cqp` or `custom`. When `iframe_cqp` or `pframe_cqp` is used, the default value of these four parameters will be applied. Only when this field is `custom` will the custom values will be used.

ROS Topic	Type	Description
`image_raw`	sensor_msgs/Image	Raw input image.

Warning

All input images are required to have height and width that are both an even number of pixels.

ROS Topic	Interface	Description
`image_compressed`	sensor_msgs/CompressedImage	H.264 compressed image.

The input image resolution must be the same as the dimension you provided, and the resolution must be no larger than ``1920x1200``.
The input image should be in rgb8 or bgr8 format, and it will be converted to nv12 format before being sent to the encoder.

The encoder could perform All-I frame or P-frame encoding and output the H.264 compressed data. The input and output are one-to-one mapped.