GXF Publish Image

This node publishes GXF Image messages

Installation

To use this Node, you must enable omni.isaac.gxf_bridge in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port.

context

uint64

GXF context handle, Default of zero will use the default global context

0

outputEntity

string

The name of the entity used to publish data

outputComponent

string

The name of the component used to publish data

poseFrame

string

FrameId for Atlas

robot

data

uchar[]

Buffer array data

[]

width

uint

Buffer array width

0

height

uint

Buffer array height

0

focalLength

float

horizontalAperture

float

verticalAperture

float

horizontalOffset

float

verticalOffset

float

projectionType

token

cameraFisheyeParams

float[]

Camera fisheye projection parameters

stereoOffset

float[3]

Stereo offset (Tx, Ty, Tz) used for the camera extrinsics field

[0.0, 0.0, 0.0]

encoding

token

Encoding format for the input data

rgb8

Outputs

Name

Type

Description

Default

execOut

execution

Output execution trigger