Merge pull request #255 from stereolabs/test_ffmpeg

Test ffmpeg
stereolabs · Sep 23, 2024 · b1b9b1c · b1b9b1c
2 parents baad42b + 3756d70
commit b1b9b1c
Show file tree

Hide file tree

Showing 10 changed files with 53 additions and 12 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,11 @@
 LATEST CHANGES
 ==============
 
+2024-09-23
+----------
+- Add support for FFMPEG image transport
+- Add new `ffmpeg.yaml` configuration file
+
 2024-07-31
 ----------
 - Add support for point cloud transport

diff --git a/zed-ros2-interfaces b/zed-ros2-interfaces
diff --git a/zed_components/CMakeLists.txt b/zed_components/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(zed_components)
 
 ################################################
@@ -96,7 +96,7 @@ set(DEPENDENCIES
     tf2
     tf2_ros
     tf2_geometry_msgs
-    geometry_msgs
+    geometry_msgs    
     nav_msgs
     nmea_msgs
     geographic_msgs

diff --git a/zed_components/src/zed_camera/include/sl_types.hpp b/zed_components/src/zed_camera/include/sl_types.hpp
@@ -142,6 +142,7 @@ typedef std::unique_ptr<sensor_msgs::msg::MagneticField> magMsgPtr;
 typedef std::unique_ptr<stereo_msgs::msg::DisparityImage> dispMsgPtr;
 
 typedef std::unique_ptr<geometry_msgs::msg::PoseStamped> poseMsgPtr;
+
 typedef std::unique_ptr<zed_interfaces::msg::PosTrackStatus> poseStatusMsgPtr;
 typedef std::unique_ptr<zed_interfaces::msg::GnssFusionStatus> gnssFusionStatusMsgPtr;
 typedef std::unique_ptr<geometry_msgs::msg::PoseWithCovarianceStamped>

diff --git a/zed_components/src/zed_camera/src/zed_camera_component.cpp b/zed_components/src/zed_camera/src/zed_camera_component.cpp
@@ -1625,7 +1625,7 @@ void ZedCamera::getOdParams()
   bool matched = false;
   for (int idx =
     static_cast<int>(sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_FAST);
-    idx < static_cast<int>(sl::OBJECT_DETECTION_MODEL::CUSTOM_BOX_OBJECTS);
+    idx < static_cast<int>(sl::OBJECT_DETECTION_MODEL::LAST);
     idx++)
   {
     sl::OBJECT_DETECTION_MODEL test_model =
@@ -3592,9 +3592,9 @@ void ZedCamera::initPublishers()
         << mPubDisparity->get_topic_name());
 #ifndef FOUND_FOXY
     mPubCloud = point_cloud_transport::create_publisher(
-      this->shared_from_this(), 
+      this->shared_from_this(),
       pointcloud_topic, mQos.get_rmw_qos_profile(), mPubOpt);
-      RCLCPP_INFO_STREAM(
+    RCLCPP_INFO_STREAM(
       get_logger(),
       "Advertised on topic: " << mPubCloud.getTopic());
 #else
@@ -3603,7 +3603,7 @@ void ZedCamera::initPublishers()
     RCLCPP_INFO_STREAM(
       get_logger(),
       "Advertised on topic: " << mPubCloud->get_topic_name());
-#endif    
+#endif
     // <---- Depth publishers
 
     // ----> Pos Tracking
@@ -3681,7 +3681,7 @@ void ZedCamera::initPublishers()
     if (mMappingEnabled) {
 #ifndef FOUND_FOXY
       mPubFusedCloud = point_cloud_transport::create_publisher(
-        this->shared_from_this(), mPointcloudFusedTopic, mQos.get_rmw_qos_profile());
+        this->shared_from_this(), mPointcloudFusedTopic, mQos.get_rmw_qos_profile(), mPubOpt);
       RCLCPP_INFO_STREAM(
         get_logger(), "Advertised on topic "
           << mPubFusedCloud.getTopic()
@@ -5027,7 +5027,7 @@ bool ZedCamera::start3dMapping()
 #ifndef FOUND_FOXY
       mPubFusedCloud = point_cloud_transport::create_publisher(
         this->shared_from_this(), mPointcloudFusedTopic,
-        mQos.get_rmw_qos_profile());
+        mQos.get_rmw_qos_profile(), mPubOpt);
       RCLCPP_INFO_STREAM(
         get_logger(), "Advertised on topic "
           << mPubFusedCloud.getTopic()
@@ -5170,7 +5170,7 @@ bool ZedCamera::startObjDetect()
       mObjectDetTopic, mQos, mPubOpt);
     RCLCPP_INFO_STREAM(
       get_logger(),
-      "Advertised on topic " << mPubObjDet->get_topic_name());
+      " * Advertised on topic " << mPubObjDet->get_topic_name());
   }
 
   mObjDetRunning = true;

diff --git a/zed_ros2/CMakeLists.txt b/zed_ros2/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(zed_ros2 NONE)
 
 ## Generate symbols for IDE indexer

diff --git a/zed_wrapper/CMakeLists.txt b/zed_wrapper/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(zed_wrapper)
 
 ## Generate symbols for IDE indexer

diff --git a/zed_wrapper/config/ffmpeg.yaml b/zed_wrapper/config/ffmpeg.yaml
@@ -0,0 +1,20 @@
+# config/ffmpeg.yaml
+# Parameters to setup FFMPEG encoding in image_transport
+
+# Full parameter documentation: https://github.com/ros-misc-utilities/ffmpeg_image_transport/blob/master/README.md
+
+---
+/**:
+    ros__parameters:
+        ffmpeg_image_transport:
+          bit_rate: 4194304 # Default: 8242880
+          delay: '0' # default is 4 frames for parallel processing. 0 is lowest latency
+          encoding: 'hevc_nvenc' # Only ever tested: libx264, h264_nvenc, h264, hevc_nvenc, h264_vaapi. If you have an Nvidia card it most likely supports hevc_nvenc. This will dramatically reduce the CPU load compare to libx264 (the default). You can list all available codecs with ffmpeg -codecs. In the relevant row, look for what it says under (encoders).
+          gop_size: 10 # The number of frames inbetween keyframes. Default is 15. The larger this number the more latency you will have, but also the more efficient the transmission becomes.
+          measure_performance: false # Enable performance analysis
+          performance_interval: 100 # number of frames between perf printouts
+          pixel_format: ''
+          preset: '' # 'll','ultrafast','superfast','veryfast','faster','fast','medium','slow','slower','veryslow' -> https://trac.ffmpeg.org/wiki/Encode/H.264#Preset
+          profile: '' # 'baseline','main' -> https://trac.ffmpeg.org/wiki/Encode/H.264#Tune
+          qmax: 0 # max allowed quantization. The lower the better quality
+          tune: '' # 'film','animation','grain','stillimage','fastdecode','zerolatency'
diff --git a/zed_wrapper/launch/zed_camera.launch.py b/zed_wrapper/launch/zed_camera.launch.py
@@ -39,6 +39,13 @@
     'common.yaml'
 )
 
+# FFMPEG Configuration to be loaded by ZED Node
+default_config_ffmpeg = os.path.join(
+    get_package_share_directory('zed_wrapper'),
+    'config',
+    'ffmpeg.yaml'
+)
+
 # URDF/xacro file to be loaded by the Robot State Publisher node
 default_xacro_path = os.path.join(
     get_package_share_directory('zed_wrapper'),
@@ -75,6 +82,7 @@ def launch_setup(context, *args, **kwargs):
     node_name = LaunchConfiguration('node_name')
 
     config_common_path = LaunchConfiguration('config_path')
+    config_ffmpeg = LaunchConfiguration('ffmpeg_config_path')
 
     serial_number = LaunchConfiguration('serial_number')
 
@@ -157,6 +165,7 @@ def launch_setup(context, *args, **kwargs):
             # YAML files
             config_common_path,  # Common parameters
             config_camera_path,  # Camera related parameters
+            config_ffmpeg, # FFMPEG parameters
             # Overriding
             {
                 'use_sim_time': use_sim_time,
@@ -218,6 +227,10 @@ def generate_launch_description():
                 'config_path',
                 default_value=TextSubstitution(text=default_config_common),
                 description='Path to the YAML configuration file for the camera.'),
+            DeclareLaunchArgument(
+                'ffmpeg_config_path',
+                default_value=TextSubstitution(text=default_config_ffmpeg),
+                description='Path to the YAML configuration file for the FFMPEG parameters when using FFMPEG image transport plugin.'),                
             DeclareLaunchArgument(
                 'serial_number',
                 default_value='0',

diff --git a/zed_wrapper/package.xml b/zed_wrapper/package.xml
@@ -25,6 +25,8 @@
 	<exec_depend>compressed_image_transport</exec_depend>
 	<exec_depend>compressed_depth_image_transport</exec_depend>
 	<exec_depend>theora_image_transport</exec_depend>
+	<exec_depend>ffmpeg_image_transport</exec_depend>
+	<exec_depend>ffmpeg_encoder_decoder</exec_depend>
 	<exec_depend>point_cloud_transport_plugins</exec_depend>
 	<exec_depend>draco_point_cloud_transport</exec_depend>
 	<exec_depend>zlib_point_cloud_transport</exec_depend>