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undo deprecation of encodeImage(mat, header) #9

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Merged
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Sep 16, 2025
Merged

undo deprecation of encodeImage(mat, header) #9

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13 changes: 10 additions & 3 deletions include/ffmpeg_encoder_decoder/encoder.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,10 @@ class Encoder
* \brief completely resets the state of the encoder.
*/
void reset();
/**
* \brief encodes image message. May produce callbacks.
* \param msg the image message to encode
*/
void encodeImage(const Image & msg);
/**
* \brief flush all packets (produces callbacks).
Expand Down Expand Up @@ -340,10 +344,13 @@ class Encoder
setAVSourcePixelFormat(fmt);
}
/**
* \deprecated use encodeImage(const Image &msg) instead.
* \brief encodes image into ffmpeg message. May produce callbacks.
* \param img openCV matrix representing image to be encoded
* \param header frame_id and stamp are used to generate ffmpeg packet message
* \param t0 start time for performance timing. Set to rclcpp::Clock().now()
*/
[[deprecated("use encodeImage(const Image &msg) instead.")]] void encodeImage(
const cv::Mat & img, const Header & header, const rclcpp::Time & t0);
void encodeImage(
const cv::Mat & img, const Header & header, const rclcpp::Time & t0 = rclcpp::Clock().now());
/**
* flush all packets (produces callbacks).
* \deprecated Only header.frame_id is used. Used flush(frame_id) now.
Expand Down