search

Field-Robotics-Japan / UnitySensors

ROS/ROS2 enabled Sensor models (Assets) on Unity
Apache License 2.0
224 stars 35 forks source link

publishing RAW images #165

Open sawan-kcl opened 4 months ago

sawan-kcl commented 4 months ago

Hello, The work with ROS sensors has been going well so far but i have encountered a bottleneck. In order to use the depth images and RGB images for 3D mapping, i need data in RAW format instead of compressed format. Is there any way that the camera and depth sensors publish images in raw format? currently it publishes in compressed format with JPEG encoding.

Also, I plan to use IMU but in zero gravity/microgravity environment in Unity. Could that be a problem?

RyodoTanaka commented 4 months ago

You can decompose compressed image to raw image using image_transport package. https://index.ros.org/p/image_transport/

About IMU in zero gravity environment, I have not tried that. Thus, I do not know what the problem will be.

sawan-kcl commented 4 months ago

thanks @RyodoTanaka for your response, I have been using image_transport till now but this comes with processing overhead resulting in lower frame rates of raw images. The maximum frame rate i get from setting frequency in ros sensor prefabs is 45 Hz and after passing through image_transport raw image frequency is 25 Hz. I wanted higher frame rates that's why i was wondering if there's any way to directly get raw images.

RyodoTanaka commented 1 month ago

@sawan-kcl Recently, we merged the raw image publish function with https://github.com/Field-Robotics-Japan/UnitySensors/pull/171 . Thus, please try to use beta/v2.x.x branch, and you do not need to use image_trnsport package.