How to launch compressed image node

asked 2019-07-11 16:25:50 -0600

khasreto gravatar image

Hey, I'm struggling with compressed image transport node on ros kinetic - the problem is that i have to pass image over tcp connection but when I do that without commpression i have quickly filled up my connection.

The idea is to compress image on slave and decompress that on master - image processing node needs decompressed image. I can't read proper launch file which can make it. I cannot find how to launch this compression, I'm looking for something like :

 <node pkg="image_transport" type="republish" name="rgb_compress" args="raw in:=/camera/rgb/image_raw compressed out:=/rgb_republish">

Also I don't know which option is better weather compress to png or jpg - connection is pretty fast but board is asus thinker board and I'm limited by it's power

edit retag flag offensive close merge delete



As far as I understood the compressed_image_transport package will automatically publish a cenpressed version if the original image is published via image transport: "The compressed_image_transport package provides plugins for the "compressed" transport, which sends images over the wire in either JPEG- or PNG-compressed form. Notice that compressed_image_transport is not a dependency of your package; image_transport will automatically discover all transport plugins built in your ROS system."


rfn123 gravatar image rfn123  ( 2019-07-12 09:03:22 -0600 )edit