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Package Summary
compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: fuerte-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: groovy-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: hydro-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: maintained
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: indigo-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: maintained
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: indigo-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: maintained
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: indigo-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: maintained
- Maintainer: David Gossow <dgossow AT willowgarage DOT com>
- Author: Julius Kammerl
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: indigo-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: maintained
- Maintainer: Kenji Brameld <kenjibrameld AT gmail DOT com>
- Author: Julius Kammerl, David Gossow
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: melodic-devel)
Package Summary
Compressed_depth_image_transport provides a plugin to image_transport for transparently sending depth images (raw, floating-point) using PNG compression.
- Maintainer status: unmaintained
- Maintainer: Kenji Brameld <kenjibrameld AT gmail DOT com>
- Author: Julius Kammerl, David Gossow
- License: BSD
- Source: git https://github.com/ros-perception/image_transport_plugins.git (branch: noetic-devel)
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.- Maximum depth value (meter), in the range [1, 100]
- Depth value at which the sensor accuracy is 1 m (Kinect: >75), in the range [1, 150].
- 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.- 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
- Maximum depth value (meter), in the range [1, 100]
- Depth value at which the sensor accuracy is 1 m (Kinect: >75), in the range [1, 150].
- 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.
