Add an option to subscribe to compressed image topics. #28
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Also allow for relative names in cam_base_topic
rayferric
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Mar 25, 2024
bjsowa
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Mar 26, 2024
Co-authored-by: Błażej Sowa <[email protected]>
Co-authored-by: Błażej Sowa <[email protected]>
rayferric
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Mar 26, 2024
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bjsowa
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Mar 26, 2024
bjsowa
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* Add an option to subscribe compressed image topics Also allow for relative names in cam_base_topic * Fix code style divergence reported by colcon test * Properly forward the original header when decompressing image messages. * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Restructure image callbacks * Remove the unnecessary 'copy elision' comment * Reset compressed_img_sub_ in on_shutdown() --------- Co-authored-by: Błażej Sowa <[email protected]> (cherry picked from commit 1150e04)
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* Add an option to subscribe compressed image topics Also allow for relative names in cam_base_topic * Fix code style divergence reported by colcon test * Properly forward the original header when decompressing image messages. * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Restructure image callbacks * Remove the unnecessary 'copy elision' comment * Reset compressed_img_sub_ in on_shutdown() --------- Co-authored-by: Błażej Sowa <[email protected]> (cherry picked from commit 1150e04)
bjsowa
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Mar 27, 2024
* Add an option to subscribe compressed image topics Also allow for relative names in cam_base_topic * Fix code style divergence reported by colcon test * Properly forward the original header when decompressing image messages. * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Restructure image callbacks * Remove the unnecessary 'copy elision' comment * Reset compressed_img_sub_ in on_shutdown() --------- Co-authored-by: Błażej Sowa <[email protected]> (cherry picked from commit 1150e04) Co-authored-by: Ray Ferric <[email protected]>
bjsowa
pushed a commit
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Mar 27, 2024
* Add an option to subscribe compressed image topics Also allow for relative names in cam_base_topic * Fix code style divergence reported by colcon test * Properly forward the original header when decompressing image messages. * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Update aruco_opencv/src/aruco_tracker.cpp Co-authored-by: Błażej Sowa <[email protected]> * Restructure image callbacks * Remove the unnecessary 'copy elision' comment * Reset compressed_img_sub_ in on_shutdown() --------- Co-authored-by: Błażej Sowa <[email protected]> (cherry picked from commit 1150e04) Co-authored-by: Ray Ferric <[email protected]>
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I have added a new parameter called
image_sub_compressed: false. When enabled, aruco_tracker will subscribe tocam_base_topic/compressedinstead ofcam_base_topic.This modification is a workaround, because normally, image compression is handled by setting
image_transport::TransportHints. However we are unable to use image_transport with lifecycle nodes.Enabling this feature makes aruco_tracker work much faster and allows us to successfully use it with a multi-camera setup.