A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data.

文件	最后提交记录	最后更新时间
README.en.md	Fix: fix	3 年前
README.md	Fix: fix	3 年前
_multibuild	init image_transport_plugins noetic	2 年前
compressed-depth-image-transport.spec	init image_transport_plugins noetic	2 年前
compressed-image-transport.spec	init image_transport_plugins noetic	2 年前
image-transport-plugins.spec	init image_transport_plugins noetic	2 年前
image_transport_plugins.yaml	update SPEC,YAML,tar.gz and READEME of image_transport_plugins	4 年前
ros-noetic-compressed-depth-image-transport_1.14.0.orig.tar.gz	init image_transport_plugins noetic	2 年前
ros-noetic-compressed-image-transport_1.14.0.orig.tar.gz	init image_transport_plugins noetic	2 年前
ros-noetic-image-transport-plugins_1.14.0.orig.tar.gz	init image_transport_plugins noetic	2 年前
ros-noetic-theora-image-transport_1.14.0.orig.tar.gz	init image_transport_plugins noetic	2 年前
theora-image-transport.spec	init image_transport_plugins noetic	2 年前

image_transport_plugins

介绍

一组用于发布和订阅除原始像素数据之外的表示中的sensor_msgs/Image主题的插件。例如，为了查看机器人的图像流，视频编解码器将提供更低的带宽和延迟。对于高清晰度图像的低帧率传输，您可能更愿意将它们作为JPEG或PNG压缩形式发送。

软件架构

软件架构说明

image_transport_plugins包含image_transport的插件，用于在压缩表示中发送sensor_msgs/Image主题。其内容包括：

compressed_image_transport 是一个提供静止图像的JPEG和PNG压缩的插件。对于低帧/不连续图像源（例如，轮询相机）或者需要无损压缩（PNG）时最有用。
theora_image_transport 是使用Theora视频编解码器压缩图像主题的插件。适用于实时视频源。

如果您的系统内置插件，则这些传输才会可用！在Ubuntu上，它们包含在 ros-<distro>-image-transport-plugins中，为每个分发。如果从源构建，则必须明确构建image_transport_plugins 堆栈。

文件内容:

image_transport_plugins/
├── compressed_depth_image_transport
│   ├── cfg
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── compressed_depth_plugins.xml
│   ├── include
│   ├── package.xml
│   ├── pax_global_header
│   ├── src
│   └── test
├── compressed_image_transport
│   ├── cfg
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── compressed_plugins.xml
│   ├── include
│   ├── package.xml
│   ├── pax_global_header
│   └── src
├── image_transport_plugins
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── pax_global_header
└── theora_image_transport
    ├── cfg
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── include
    ├── msg
    ├── package.xml
    ├── src
    └── theora_plugins.xml

安装教程

下载RPM包

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.x86_64.rpm

安装rpm包

aarch64:

sudo rpm -ivh ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-image_transport_plugins-1.14.0-1.oe2203.x86_64.rpm --nodeps --force

使用说明

依赖环境安装:

sh /opt/ros/noetic/install_dependence.sh

安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功

输出:

image_transport
├── cmake.lock
├── env.sh
├── lib
│   ├── image_transport
│   ├── libimage_transport_plugins.so
│   ├── libimage_transport.so
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── image_transport
image_transport_plugins
├── cmake.lock
├── env.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh