Ffmpeg support (#4)

* working on ffmpeg support
* ffmpeg demo

Dockerfile

@@ -16,13 +16,15 @@ RUN apt-get update && apt-get install -y \
         python3-rosdep
 
 # install everything needed
-RUN git clone https://github.com/luxonis/depthai-ros.git /ros2_ws/src -b ${DEPTHAI_ROS_RELEASE} && \
+RUN git clone https://github.com/luxonis/depthai-ros.git src/depthai-ros -b ${DEPTHAI_ROS_RELEASE} && \
+    git clone https://github.com/ros-misc-utilities/ffmpeg_image_transport.git src/ffmpeg_image_transport && \
+    vcs import src < src/ffmpeg_image_transport/ffmpeg_image_transport.repos && \
     rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
 	rosdep init && \
     rosdep update --rosdistro $ROS_DISTRO && \
     rosdep install --from-paths src --ignore-src -r -y && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
-    MAKEFLAGS="-j1 -l1" colcon build
+    MAKEFLAGS="-j1 -l1" colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 FROM husarnet/ros:${PREFIX}${ROS_DISTRO}-ros-core
 

demo/oak-1-ffmpeg/.env.cpu

@@ -0,0 +1,2 @@
+DISPLAY=${DISPLAY:?err}
+LIBGL_ALWAYS_SOFTWARE=1

demo/oak-1-ffmpeg/.env.gpu

@@ -0,0 +1,3 @@
+DISPLAY=${DISPLAY:?err}
+NVIDIA_VISIBLE_DEVICES=all
+NVIDIA_DRIVER_CAPABILITIES=all

demo/oak-1-ffmpeg/camera.params.yaml

@@ -0,0 +1,54 @@
+/oak:
+  ros__parameters:
+    # qos_overrides:  # group for all the qos settings
+    #   '/oak/rgb/image_raw':
+    #     publisher:
+    #       reliability: best_effort
+    camera:
+      i_enable_imu: false
+      i_enable_ir: false
+      i_floodlight_brightness: 0
+      i_ip: ''
+      i_laser_dot_brightness: 800
+      i_mx_id: ''
+      i_nn_type: none
+      i_pipeline_type: RGB
+      i_usb_port_id: ''
+      i_usb_speed: SUPER_PLUS
+      i_pipeline_dump: false
+      i_calibration_dump: false
+      i_external_calibration_path: ''
+    rgb:
+      i_board_socket_id: 0
+      i_simulate_from_topic: false
+      i_get_base_device_timestamp: false
+      i_disable_node: false
+      i_calibration_file: ''
+      i_enable_preview: false
+      i_fps: 30.0
+      i_width: 640    
+      i_height: 360
+      i_interleaved: false
+      i_keep_preview_aspect_ratio: true
+      i_low_bandwidth: true
+      i_low_bandwidth_quality: 50
+      i_max_q_size: 30
+      i_preview_size: 300
+      i_publish_topic: true
+      i_resolution: '360'
+      i_set_isp_scale: false
+      i_isp_num: 2
+      i_isp_den: 3
+      i_output_isp: false
+      r_exposure: 20000
+      r_focus: 1
+      r_iso: 800
+      r_set_man_exposure: false
+      r_set_man_focus: false
+      r_set_man_whitebalance: false
+      r_whitebalance: 3300
+    ffmpeg_image_transport:
+      encoding: libx264
+      preset: ultrafast
+      tune: zerolatency
+    use_sim_time: false

demo/oak-1-ffmpeg/compose.yaml

@@ -0,0 +1,41 @@
+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  environment:
+    - FASTRTPS_DEFAULT_PROFILES_FILE=/shm-only.xml
+    - USER
+
+x-cpu-config:
+  &cpu-config
+  env_file: .env.cpu
+
+x-gpu-config:
+  &gpu-config
+  runtime: nvidia
+  env_file: .env.gpu
+
+services:
+  luxonis:
+    image: husarion/depthai:humble-ffmpeg-support
+    <<: *common-config
+    volumes:
+      - /dev/bus/usb:/dev/bus/usb
+      - ./camera.params.yaml:/camera.params.yaml
+    device_cgroup_rules:
+      - 'c 189:* rmw'
+    command: >
+      ros2 launch depthai_ros_driver camera.launch.py 
+        parent_frame:=oak-1-base-frame 
+        params_file:=/camera.params.yaml
+
+  rviz:
+    image: husarion/rviz2:humble-11.2.9-20240111
+    <<: 
+      - *common-config
+      - *gpu-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./default.rviz:/default.rviz
+      - ./rviz.launch.py:/rviz.launch.py
+    command: ros2 launch /rviz.launch.py

demo/oak-1-ffmpeg/default.rviz

@@ -0,0 +1,149 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Image1
+        - /Image1/Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 415
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /image_raw/uncompressed
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7903980016708374
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000004d40000035efc020000000afb0000000a0049006d006100670065010000003b0000035e0000002800fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000002a1000000e70000000000000000fb0000000c00430061006d0065007200610000000434000000d7000000000000000000000001000001560000035efc0200000004fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000017e000000a000fffffffb000000100044006900730070006c00610079007301000001bf000001da000000c700fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073a0000003efc0100000002fb0000000800540069006d006501000000000000073a0000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000001040000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1850
+  X: 70
+  Y: 27

demo/oak-1-ffmpeg/justfile

@@ -0,0 +1,4 @@
+run:
+    #!/bin/bash
+    xhost +local:docker
+    docker compose up

demo/oak-1-ffmpeg/rviz.launch.py

@@ -0,0 +1,22 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Launch RViz2 with a default configuration
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', '/default.rviz'],
+            output='screen'
+        ),
+        # Launch image_transport to republish images
+        Node(
+            package='image_transport',
+            executable='republish',
+            name='republish',
+            arguments=['ffmpeg', 'in/ffmpeg:=/oak/rgb/image_raw/ffmpeg', 'raw', 'out:=/image_raw/uncompressed'],
+            output='screen'
+        ),
+    ])

demo/oak-1-ffmpeg/shm-only.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>shm_transport</transport_id>
+            <type>SHM</type>
+        </transport_descriptor>
+    </transport_descriptors>
+    <participant profile_name="SHMParticipant" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>shm_transport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>