Overview

compressed_depth_image_transport is a plugin package for image_transport. It enables any node using image_transport classes to publish and subscribe to compressed depth image/map topics. Compression parameters can be changed on the fly using the dynamic_reconfigure package.

compressed_depth_image_transport works only with floating-point or 16-bit integer encoded depth images.

Before reading this page, make sure you understand the image_transport package

Tutorials

See image_transport/Tutorials for general instruction on using image_transport. compressed_depth_image_transport works similar to compressed_image_transport which is featured in the image_transport tutorial Examining the Simple Image Publisher and Subscriber.

ROS API

Publisher plugin

Published Topics

<base_topic>/compressedDepth (sensor_msgs/CompressedImage)
  • Compressed depth transport subtopic.

Parameters

Reconfigurable parameters
Starting in Diamondback, all publisher parameters are dynamically reconfigurable per-topic. See dynamic_reconfigure for details on dynamically reconfigurable parameters.
<base_topic>/compressedDepth/depth_max (double, default: 10.0)
  • Maximum depth value (meter), in the range [1, 100]
<base_topic>/compressedDepth/depth_quantization (double, default: 100)
  • Depth value at which the sensor accuracy is 1 m (Kinect: >75), in the range [1, 150].
<base_topic>/compressedDepth/png_level (int, default: 9 (or 1 since 2023))
  • PNG compression level, in the range [1, 9]. Higher values trade computation time for space savings.

Parameters

Reconfigurable parameters
Starting in Diamondback, all publisher parameters are dynamically reconfigurable per-topic. See dynamic_reconfigure for details on dynamically reconfigurable parameters.
<base_topic>/compressedDepth/format (enum [png | rvl], default: png)
  • Compression format. The RVL format has been added in Noetic and is not available on previous ROS versions. Previous ROS versions have always used PNG. New in Noetic
<base_topic>/compressedDepth/depth_max (double, default: 10.0)
  • Maximum depth value (meter), in the range [1, 100]
<base_topic>/compressedDepth/depth_quantization (double, default: 100)
  • Depth value at which the sensor accuracy is 1 m (Kinect: >75), in the range [1, 150].
<base_topic>/compressedDepth/png_level (int, default: 9 (or 1 since 2023))
  • PNG compression level, in the range [1, 9]. Higher values trade computation time for space savings.

Subscriber plugin

Subscribed Topics

<base_topic>/compressedDepth (sensor_msgs/CompressedImage)
  • Compressed depth transport subtopic.

Wiki: compressed_depth_image_transport (last edited 2023-01-26 03:21:56 by Martin Pecka)