Add ffmpeg compression support for Blackfly

clearpathrobotics · Nov 4, 2024 · f0ec5c8 · f0ec5c8
1 parent 18906e7
commit f0ec5c8
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Showing 3 changed files with 20 additions and 0 deletions.
diff --git a/clearpath_sensors/config/flir_blackfly.yaml b/clearpath_sensors/config/flir_blackfly.yaml
@@ -32,3 +32,18 @@ flir_blackfly:
     chunk_enable_gain: true
     chunk_selector_timestamp: Timestamp
     chunk_enable_timestamp: true
+image_debayer:
+  ros__parameters:
+    ffmpeg_image_transport:
+      qmax: 48
+      preset: veryfast
+      tune: zerolatency
+      bit_rate: 1000000
+      gop_size: 15
+    image_raw:
+      enable_pub_plugins: {}
+    debayer_node:
+      enable_pub_plugins:
+        - image_transport/compressed
+        - image_transport/ffmpeg
+        - image_transport/raw
diff --git a/clearpath_sensors/launch/flir_blackfly.launch.py b/clearpath_sensors/launch/flir_blackfly.launch.py
@@ -75,6 +75,7 @@ def generate_launch_description():
                 (name + '/image_raw/compressed', 'raw/compressed'),
                 (name + '/image_raw/compressedDepth', 'raw/compressedDepth'),
                 (name + '/image_raw/theora', 'raw/theora'),
+                (name + '/image_raw/ffmpeg', 'raw/ffmpeg'),
             ],
             extra_arguments=[{'use_intra_process_comms': True}],
         ),
@@ -83,6 +84,7 @@ def generate_launch_description():
             plugin='image_proc::DebayerNode',
             name='image_debayer',
             namespace=namespace,
+            parameters=[parameters],
             remappings=[
                 ('image_raw', 'raw/image'),
                 ('image_color', 'color/image'),
@@ -93,6 +95,8 @@ def generate_launch_description():
                 ('image_mono/compressed', 'mono/compressed'),
                 ('image_mono/compressedDepth', 'mono/compressedDepth'),
                 ('image_mono/theora', 'mono/theora'),
+                ('image_color/ffmpeg', 'color/ffmpeg'),
+                ('image_mono/ffmpeg', 'mono/ffmpeg'),
             ],
             extra_arguments=[{'use_intra_process_comms': True}],
         ),

diff --git a/clearpath_sensors/package.xml b/clearpath_sensors/package.xml
@@ -15,6 +15,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <exec_depend>ffmpeg_image_transport</exec_depend>
   <exec_depend>flir_camera_description</exec_depend>
   <exec_depend>flir_camera_msgs</exec_depend>
   <exec_depend>image_proc</exec_depend>