compressed-image

Using image_transport(ROS pkg) to compress and decompress image

1. compress the raw image with png-compressed method(png level=9), because the jpeg-compressed would casue distortion
2. decompress the compressed image to raw image

source

1. image_transport ROS wiki
2. compressed_image_transport
3. image_transport_plugins

background

I need to get the sensor_msgs::CompressedImage msg from sensor_msgs::Image msg directly because I want to write the sensor_msgs::CompressedImage msg into rosbag. However, the image_transport package cannot directly transform the raw image to compressed image.

method

Make sure that the compressed_image_transport and image_transport are installed.

I use the compressed_image_transport to get the sensor_msgs::CompressedImage msg. In addition, I also write the file to convert the compressedImage to sensor_msgs::Image msg.

roslaunch file

Using the image_transpot package to get the multiple raw images from the compressed images directly.