ZMQ Publish Image#
Publishes a camera image (color or depth) via ZMQ as an Image protobuf message. The encoding input selects content type: rgba8/rgb8 for color, 32FC1 for depth. With useIpc (default) and a GPU source, pixels are shared zero-copy via CUDA IPC (same host); otherwise raw bytes are sent.
Installation#
To use this node enable isaacsim.zmq.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Buffer Size (inputs:bufferSize) |
|
Size in bytes of the data buffer (0 if input is a GPU texture) |
0 |
Cuda Device Index (inputs:cudaDeviceIndex) |
|
Index of CUDA device where data resides (-1 for host/CPU data) |
-1 |
Data (inputs:data) |
|
CPU image data array (used when cudaDeviceIndex == -1 and dataPtr == 0) |
[] |
Data Ptr (inputs:dataPtr) |
|
Pointer to raw image data (CUDA device pointer or host pointer) |
0 |
Encoding (inputs:encoding) |
|
Image encoding format. rgba8/rgb8 for color images, 32FC1 for depth images. |
rgba8 |
Metadata |
allowedTokens = rgba8,rgb8,32FC1 |
||
Exec In (inputs:execIn) |
|
The input execution port |
None |
Format (inputs:format) |
|
GPU texture format identifier (informational; sizing uses encoding) |
0 |
Height (inputs:height) |
|
Image height in pixels |
0 |
Ip (inputs:ip) |
|
Remote IP address of the ZMQ server |
localhost |
Port (inputs:port) |
|
Remote port number of the ZMQ server |
5561 |
Timestamp (inputs:timeStamp) |
|
Frame timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
ZMQ topic published on (first multipart frame); defaults to the message type. Set a unique value (e.g. “robot_0/image”) to distinguish multiple data sources. |
image |
Use Ipc (inputs:useIpc) |
|
When true (default) and the source is on the GPU, share pixels zero-copy via CUDA IPC (same host only). When false, or for CPU data, send raw bytes (works cross-host). |
True |
Width (inputs:width) |
|
Image width in pixels |
0 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Fires every tick after the image is published |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.zmq.nodes.ZMQPublishImage |
Version |
1 |
Extension |
isaacsim.zmq.nodes |
Icon |
ogn/icons/isaacsim.zmq.nodes.ZMQPublishImage.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ZMQ Publish Image |
Categories |
isaacZmq |
Generated Class Name |
OgnZMQPublishImageDatabase |
Python Module |
isaacsim.zmq.nodes |