It would be great if the image_transport::CameraPublisher also supported publishing with this type adapter. I'm happy to work on this feature if no one else is already working on it.
I can add an overloaded function here to publish a unique_ptr of the adapter. Subsequently also change the publisher in the Impl class to a type adapted one.
This would enable users to setup ImagePublishers that supports type adaptation internally.
PR https://github.com/ros-perception/vision_opencv/pull/441 introduced a type adapter between cv::Mat and Image msg.
It would be great if the
image_transport::CameraPublisheralso supported publishing with this type adapter. I'm happy to work on this feature if no one else is already working on it.I can add an overloaded function here to publish a unique_ptr of the adapter. Subsequently also change the publisher in the
Implclass to a type adapted one.This would enable users to setup
ImagePublishersthat supports type adaptation internally.