I am writing ROS2 publisher script in C++. Have anyone tried to process the image from auto imgQueue = device->getOutputQueue("rgb", 30, false);
, before directly publish with
dai::rosBridge::ImageConverter rgbConverter(tfPrefix + "_rgb_camera_optical_frame", false);
dai::rosBridge::BridgePublisher<sensor_msgs::msg::Image, dai::ImgFrame> rgbPublish(
imgQueue,
node,
std::string("color/image"),
std::bind(&dai::rosBridge::ImageConverter::toRosMsg, &rgbConverter, std::placeholders::_1, std::placeholders::_2),
30,
rgbCameraInfo,
"color");
rgbPublish.addPublisherCallback();
Basically, i have bounding box from YoloDetectionNetwork, but instead of publish both of them, I would like to process the rgb / mono image with the bbox (i.e., drawing the bbox) and publish the processed frame. Can someone assist me with this?