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.