Enable multiple color image encodings #32
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Fix build issue with glog missing: ``` CMake Error at CMakeLists.txt:89 (add_executable): Target "3dmatch_node" links to target "glog::glog" but the target was not found. Perhaps a find_package() call is missing for an IMPORTED target, or an ALIAS target is missing? ```
…mer/isaac_ros_nvblox into feature/multiple-image-encodings
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Is anybody here looking? |
hemalshahNV
requested review from
alexmillane,
helenol and
swapnesh-wani-nvidia
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@nakai-omer , this is great work! Any reason you couldn't use the Isaac ROS Image Pipeline/isaac_ros_image_proc color conversion nodes, though? |
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Thank you for your interest in nvblox. I hope that you're finding it useful. Yes just to echo @hemalshahNV, we'd like to be careful about which dependencies we take on. Dependencies on personal projects are not ideal. This looks like a useful addition however so if it could be reformulated to depend on |
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@hemalshahNV @alexmillane The external lib I am using is just an extraction of the image convert from jetson-utils, so it can run outside of a Jetson. I can change it to using |
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@nakai-omer, appreciate the attention on performance! You're right, but luckily, with |
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@hemalshahNV Got it, ok i will be working on changing this PR to use isaac_ros_image_proc, as a composable node, so it can stay as intraprocess. |
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@hemalshahNV does the nvidia nvblox release by now have the zed camera support addressed? |
Currently the only supported encoding is RGB8. We have extracted the image conversion utilities from jetson-utils (which is only supported on jetson so we couldn't use directly), and used it for GPU optimized conversions. Now many more image formats are supported, and the added lib can help in other areas as well.
This is also needed specifically for usage with the ZED camera as it outputs BGRA8 encoding.