Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

isaac_ros_dnn_image_encoder

Source code on GitHub.

API

DnnImageEncoderNode

ROS Parameters

ROS Parameter

Type

Default

Description

input_image_width

uint16_t

0

The input image width.

input_image_width

uint16_t

0

The input image height.

network_image_width

uint16_t

0

The image width that the network expects. This will be used to crop the input image width.

network_image_height

uint16_t

0

The image height that the network expects. This will be used to crop the input image height.

image_mean

double list

[0.5, 0.5, 0.5]

The mean of the images per channel that will be used for normalization.

image_stddev

double list

[0.5, 0.5, 0.5]

The standard deviation of the images per channel that will be used for normalization.

num_blocks

int

40

The number of pre-allocated memory blocks, should not be less than 40.

bbox_loc

int64_t list

[-1, -1]

Top left location (x,y) of the bounding box (region of interest) to crop the input image. If the default value is used, then a center crop is performed.

ROS Topics Subscribed

ROS Topic

Interface

Description

image

sensor_msgs/Image

The image that should be encoded into a tensor.

Warning

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

ROS Topics Published

ROS Topic

Interface

Description

encoded_tensor

isaac_ros_tensor_list_interfaces/TensorList

The resultant tensor after converting the image.