ROS单独发布压缩图片

ROS单独发布压缩图片

sensor_msgs/CompressedImage Message

Header header        # Header timestamp should be acquisition time of image
                     # Header frame_id should be optical frame of camera
                     # origin of frame should be optical center of camera
                     # +x should point to the right in the image
                     # +y should point down in the image
                     # +z should point into to plane of the image

string format        # Specifies the format of the data
                     #   Acceptable values:
                     #     jpeg, png
uint8[] data         # Compressed image buffer

 ros::Publisher image_pub3_;
      
image_pub3_ = nh_.advertise<sensor_msgs::CompressedImage>(
          "/realsense_up/compressed", 5);

  sensor_msgs::CompressedImage image_up;
    image_up.format = "jpeg";
    std::vector<uchar> encodeing;
    cv::imencode(".jpg", deal_result[1], encodeing);
    encodeing.swap(image_up.data);
    image_up.header = std_msgs::Header();
    image_pub3_.publish(image_up);

tip

1. 消息后面的拓展名必须是标准的 eg. compressed等
2. 用cv::imencode 去进行编码，可以自己设置压缩比和图像质量，详情看cv函数
3. 用swap进行数据交换
4.cmakelists文件照着写就好了