search

fictionlab / ros_aruco_opencv

ROS wrapper for ArUco Opencv module
MIT License
16 stars 16 forks source link

Add an option to subscribe to compressed image topics. #28

Closed rayferric closed 8 months ago

rayferric commented 8 months ago

I have added a new parameter called image_sub_compressed: false. When enabled, aruco_tracker will subscribe to cam_base_topic/compressed instead of cam_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.

bjsowa commented 8 months ago

@Mergifyio backport iron rolling

mergify[bot] commented 8 months ago

backport iron rolling

✅ Backports have been created

* [#29 Add an option to subscribe to compressed image topics. (backport #28)](https://github.com/fictionlab/ros_aruco_opencv/pull/29) has been created for branch `iron` * [#30 Add an option to subscribe to compressed image topics. (backport #28)](https://github.com/fictionlab/ros_aruco_opencv/pull/30) has been created for branch `rolling`