Output

ImageCompressor

Description

Compresses images into JPEG format of specified quality, using a variety of compressors including VAAPI and TurboJPEG. It will use compressors in order until it finds a free one to compress the image. In the event that no compressors are currently free it will drop the image.

Usage

Triggers on message::input::Image Configuration from ImageCompressor.yaml

Emits

• message::output::CompressedImage

Dependencies

• TurboJPEG
• libva (vaapi)
• intel media driver

Overview

Description

Builds a periodic high-level status packet for NUsight.

The module combines localisation, game state, walk/kick intent, battery/voltage, and recent-vision timing into a single Overview message that can be forwarded to NUsight.

Usage

Install this module together with the producers of the input messages below.

The module:

• Emits an overview every 2 seconds
• Tracks most recent camera/ball/goal observation times from trigger events
• Emits the message to NUsight through NetworkForwarder.

Consumes

• message::support::GlobalConfig (optional): player id
• NUClear::message::CommandLineArguments (optional): role/binary name
• message::input::Sensors (optional): battery, voltage, robot transform
• message::localisation::Field (optional): robot field transform and covariance
• message::localisation::Ball (optional): ball field position and covariance
• message::skill::Kick (optional): kick target
• message::input::GameState (optional): game mode, phase, penalty reason
• message::skill::Walk (optional): walk velocity command
• message::input::Image (trigger): updates last camera image time
• message::vision::Balls (trigger): updates last seen ball time when non-empty
• message::vision::Goals (trigger): updates last seen goal time when non-empty

Emits

• message::support::nusight::Overview