Set the format of compressed image following image_transport. #104
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knorth55
approved these changes
Jun 2, 2022
knorth55
requested changes
Jun 2, 2022
python/coral_usb/detector_base.py
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| @@ -325,7 +325,8 @@ def visualize_cb(self, event): | |||
| # publish compressed http://wiki.ros.org/rospy_tutorials/Tutorials/WritingImagePublisherSubscriber # NOQA | |||
| vis_compressed_msg = CompressedImage() | |||
| vis_compressed_msg.header = header | |||
| vis_compressed_msg.format = "jpeg" | |||
| # image format https://github.com/ros-perception/image_transport_plugins/blob/f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7/compressed_image_transport/src/compressed_publisher.cpp#L116 # NOQA | |||
| vis_compressed_msg.format = 'rgb8; jpeg compressed bgr8' | |||
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the format should be like this.
Suggested change
| vis_compressed_msg.format = 'rgb8; jpeg compressed bgr8' | |
| vis_compressed_msg.format = vis_img.encoding + '; jpeg compressed rgb8' |
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this is just a pseudo code, so it does not work properly...
|
Thank you for your review! |
|
this pr is moved to #105. |
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In image_transport, the character compressed is added to the format before compressing with; as the delimiter.
https://github.com/ros-perception/image_transport_plugins/blob/f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7/compressed_image_transport/src/compressed_publisher.cpp#L116
https://github.com/ros-perception/image_transport_plugins/blob/f0afd122ed9a66ff3362dc7937e6d465e3c3ccf7/compressed_depth_image_transport/src/codec.cpp#L234
Related to jsk-ros-pkg/jsk_common#1738