decompress jpeg depth data

edit

• OS: Ubuntu 16.04 LTS
  • ROS distro: kinetic

Hey, I am using an old Microsoft Kienct camera and freenect for publishing the data.

Subscribing to the topic "/camera/depth_registered/image_raw/compressed", the format of the recieved message of type CompressedImage is 16UC1; jpeg compressed.

Question: How can I decompress the jpeg data to get my 16UC1 encoded depth data? It doesn't matter if ropsy or roscpp.

EDIT:

I tried using image_transport. It works when subscribing to a topic with message type /Image, like /camera/depth_registered/image_raw/. Subscribing to a message of type /CompressedImage leads to a compiler error when running catkin_make.

My node:

#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/CompressedImage.h>
#include <image_transport/image_transport.h>

void depthCallback(const sensor_msgs::CompressedImage::ConstPtr& msg)
  {
  sensor_msgs::CompressedImage image;
  image.data = msg->data;
  image.format = msg->format;
  int length = image.data.size();
  ROS_INFO("Data:[%i]", length);
  }

int main(int argc, char **argv)
  {
  ros::init(argc, argv, "depth");
  ros::NodeHandle nh;
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("/camera/depth_registered/image_raw/compressed", 1, depthCallback);
  ros::spin();

  return 0;
  }

the error message when compiling:

gtcc1@gtcc1-Latitude-E5520:~/catkin_gunnar_ws$ catkin_make
Base path: /home/gtcc1/catkin_gunnar_ws
Source space: /home/gtcc1/catkin_gunnar_ws/src
Build space: /home/gtcc1/catkin_gunnar_ws/build
Devel space: /home/gtcc1/catkin_gunnar_ws/devel
Install space: /home/gtcc1/catkin_gunnar_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/gtcc1/catkin_gunnar_ws/build"
####
####
#### Running command: "make -j4 -l4" in "/home/gtcc1/catkin_gunnar_ws/build"
####
Scanning dependencies of target depth
[ 50%] Building CXX object depth_node/CMakeFiles/depth.dir/src/depth.cpp.o
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
                 from /usr/include/boost/function.hpp:64,
                 from /opt/ros/kinetic/include/ros/forwards.h:40,
                 from /opt/ros/kinetic/include/ros/common.h:37,
                 from /opt/ros/kinetic/include/ros/ros.h:43,
                 from /home/gtcc1/catkin_gunnar_ws/src/depth_node/src/depth.cpp:1:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_invoker1<FunctionPtr, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionPtr = void (*)(const boost::shared_ptr<const sensor_msgs::CompressedImage_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:940:38:   required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = void (*)(const boost::shared_ptr<const sensor_msgs::CompressedImage_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:728:7:   required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (*)(const boost::shared_ptr<const sensor_msgs::CompressedImage_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const sensor_msgs::Image_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16:   required from ‘boost::function<R ...