On 12/07/10 09:31, Patrick Mihelich wrote:
If you publish a shared_ptr<sensor_msgs::Image> using raw
transport, image_transport takes advantage of roscpp's optimized
intraprocess message passing. So you can use image_transport to pass
images in nodelets.
Generalizing image_transport to handle other representations -
including something like shared_ptr<cv::Mat> - is on my wishlist,
but too invasive to make it into Diamondback at this point.
Hi Patrick,
Would our message_transport plugin architecture help for that? I'm not
sure exactly what you want to do with the shared_ptr<cv::Mat>,
but our package generalise the concept of specialised transport to any
type. It is basically a templated rewrite of the image_transport
framework.
Depending on what you want to do, it may be just a couple of lines to
change/add in message_transport.
More details: http://www.ros.org/wiki/ethzasl_message_transport
--
Dr. Cedric Pradalier
http://www.asl.ethz.ch/people/cedricp