1010#include " depthai-shared/common/CameraBoardSocket.hpp"
1111#include " depthai-shared/common/Point2f.hpp"
1212#include " depthai/device/CalibrationHandler.hpp"
13+ #include " depthai/pipeline/datatype/EncodedFrame.hpp"
1314#include " depthai/pipeline/datatype/ImgFrame.hpp"
15+ #include " ffmpeg_image_transport_msgs/msg/ffmpeg_packet.hpp"
1416#include " rclcpp/time.hpp"
1517#include " sensor_msgs/msg/camera_info.hpp"
18+ #include " sensor_msgs/msg/compressed_image.hpp"
1619#include " sensor_msgs/msg/image.hpp"
1720#include " std_msgs/msg/header.hpp"
1821
@@ -22,7 +25,10 @@ namespace ros {
2225
2326namespace StdMsgs = std_msgs::msg;
2427namespace ImageMsgs = sensor_msgs::msg;
28+ namespace FFMPEGMsgs = ffmpeg_image_transport_msgs::msg;
2529using ImagePtr = ImageMsgs::Image::SharedPtr;
30+ using FFMPEGImagePtr = FFMPEGMsgs::FFMPEGPacket::SharedPtr;
31+ using CompImagePtr = ImageMsgs::CompressedImage::SharedPtr;
2632
2733using TimePoint = std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration>;
2834
@@ -47,7 +53,7 @@ class ImageConverter {
4753 * @param update: bool whether to automatically update the ROS base time on message conversion
4854 */
4955 void setUpdateRosBaseTimeOnToRosMsg (bool update = true ) {
50- _updateRosBaseTimeOnToRosMsg = update;
56+ updateRosBaseTimeOnToRosMsg = update;
5157 }
5258
5359 /* *
@@ -80,10 +86,20 @@ class ImageConverter {
8086 */
8187 void setAlphaScaling (double alphaScalingFactor = 0.0 );
8288
89+ /* *
90+ * @brief Sets the encoding of the image when converting to FFMPEG message. Default is libx264.
91+ * @param encoding: The encoding to be used.
92+ */
93+ void setFFMPEGEncoding (const std::string& encoding);
94+
8395 void toRosMsg (std::shared_ptr<dai::ImgFrame> inData, std::deque<ImageMsgs::Image>& outImageMsgs);
8496 ImageMsgs::Image toRosMsgRawPtr (std::shared_ptr<dai::ImgFrame> inData, const sensor_msgs::msg::CameraInfo& info = sensor_msgs::msg::CameraInfo());
8597 ImagePtr toRosMsgPtr (std::shared_ptr<dai::ImgFrame> inData);
8698
99+ FFMPEGMsgs::FFMPEGPacket toRosFFMPEGPacket (std::shared_ptr<dai::EncodedFrame> inData);
100+
101+ ImageMsgs::CompressedImage toRosCompressedMsg (std::shared_ptr<dai::ImgFrame> inData);
102+
87103 void toDaiMsg (const ImageMsgs::Image& inMsg, dai::ImgFrame& outData);
88104
89105 /* * TODO(sachin): Add support for ros msg to cv mat since we have some
@@ -99,36 +115,37 @@ class ImageConverter {
99115 Point2f bottomRightPixelId = Point2f());
100116
101117 private:
118+ void planarToInterleaved (const std::vector<uint8_t >& srcData, std::vector<uint8_t >& destData, int w, int h, int numPlanes, int bpp);
119+ void interleavedToPlanar (const std::vector<uint8_t >& srcData, std::vector<uint8_t >& destData, int w, int h, int numPlanes, int bpp);
102120 static std::unordered_map<dai::RawImgFrame::Type, std::string> encodingEnumMap;
103121 static std::unordered_map<dai::RawImgFrame::Type, std::string> planarEncodingEnumMap;
104122
105123 // dai::RawImgFrame::Type _srcType;
106- bool _daiInterleaved ;
124+ bool daiInterleaved ;
107125 // bool c
108- const std::string _frameName = " "
109- void planarToInterleaved (const std::vector<uint8_t >& srcData, std::vector<uint8_t >& destData, int w, int h, int numPlanes, int bpp);
110- void interleavedToPlanar (const std::vector<uint8_t >& srcData, std::vector<uint8_t >& destData, int w, int h, int numPlanes, int bpp);
111- std::chrono::time_point<std::chrono::steady_clock> _steadyBaseTime;
126+ const std::string frameName = " "
127+ std::chrono::time_point<std::chrono::steady_clock> steadyBaseTime;
112128
113- rclcpp::Time _rosBaseTime ;
114- bool _getBaseDeviceTimestamp ;
129+ rclcpp::Time rosBaseTime ;
130+ bool getBaseDeviceTimestamp ;
115131 // For handling ROS time shifts and debugging
116- int64_t _totalNsChange {0 };
132+ int64_t totalNsChange {0 };
117133 // Whether to update the ROS base time on each message conversion
118- bool _updateRosBaseTimeOnToRosMsg{false };
119- dai::RawImgFrame::Type _srcType;
120- bool _fromBitstream = false ;
121- bool _convertDispToDepth = false ;
122- bool _addExpOffset = false ;
123- bool _alphaScalingEnabled = false ;
124- dai::CameraExposureOffset _expOffset;
125- bool _reverseStereoSocketOrder = false ;
126- double _baseline;
127- double _alphaScalingFactor = 0.0 ;
134+ bool updateRosBaseTimeOnToRosMsg{false };
135+ dai::RawImgFrame::Type srcType;
136+ bool fromBitstream = false ;
137+ bool dispToDepth = false ;
138+ bool addExpOffset = false ;
139+ bool alphaScalingEnabled = false ;
140+ dai::CameraExposureOffset expOffset;
141+ bool reversedStereoSocketOrder = false ;
142+ double baseline;
143+ double alphaScalingFactor = 0.0 ;
144+ int camHeight = -1 ;
145+ int camWidth = -1 ;
146+ std::string ffmpegEncoding = " libx264"
128147};
129148
130149} // namespace ros
131150
132- namespace rosBridge = ros;
133-
134151} // namespace dai
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