# Define source and output
camRgb = pipeline.create(dai.node.ColorCamera)
camRgb.setIspScale(1,5) # 4056x3040 -> 812x608
# Slightly lower FPS to avoid lag, as ISP takes more resources at 12MP
xoutIsp = pipeline.create(dai.node.XLinkOut)
This is the code I'd like to enable for sending out in ROS. The preview frame here would be great! However, the ROS modules are in C++. I wonder how to rewrite the rgb_publisher code to send this image out?