This ROS2 package supports encoding/decoding with the FFMpeg library, for example encoding h264 and h265 or HEVC, using Nvidia or other hardware acceleration when available. This package is meant to be used by image transport plugins like the ffmpeg image transport.
Continuous integration is tested under Ubuntu with the following ROS2 distros:
sudo apt-get install ros-${ROS_DISTRO}-ffmpeg-encoder-decoderSet the following shell variables:
repo=ffmpeg_encoder_decoder
url=https://github.com/ros-misc-utilities/${repo}.gitand follow the instructions here
Make sure to source your workspace's install/setup.bash afterwards.
This package has no parameters. It is the upper layer's responsibility to e.g. manage the mapping between encoder and decoder, i.e. to tell the decoder class which libav decoder should be used for the decoding, or to set the encoding parameters.
Compile and install ffmpeg. Let's say the install directory is
/home/foo/ffmpeg/build, then for it to be found while building,
run colcon like this:
colcon build --symlink-install --cmake-args --no-warn-unused-cli -DFFMPEG_PKGCONFIG=/home/foo/ffmpeg/build/lib/pkgconfig -DCMAKE_BUILD_TYPE=RelWithDebInfo
This will compile against the right headers, but at runtime it may
still load the system ffmpeg libraries. To avoid that, set
LD_LIBRARY_PATH at runtime:
export LD_LIBRARY_PATH=/home/foo/ffmpeg/build/lib:${LD_LIBRARY_PATH}
Follow the instructions
here to build a version of
ffmpeg that supports NVMPI. Then follow the section above on how to
actually use that custom ffmpeg library. As always first test on the
CLI that the newly compiled ffmpeg command now supports
h264_nvmpi. Afterwards you should be able to use e.g. the ffmpeg_image_transport with
parameters like so:
The transport can now be configured to use nvmpi like so:
parameters=[{'ffmpeg_image_transport.encoding': 'h264_nvmpi',
'ffmpeg_image_transport.profile': 'main',
'ffmpeg_image_transport.preset': 'll',
'ffmpeg_image_transport.gop': 15}]
This software is issued under the Apache License Version 2.0.