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.

Cheers,
Patrick

On Mon, Dec 6, 2010 at 4:45 PM, Nicholas Butko <nbutko@ucsd.edu> wrote:
In the nodelet documentation, it says that shared_ptr should be used for passing data, for efficiency reasons.

Is this done by default in image_trasnport? If not, what is the preferred way to publish something like shared_ptr<cv::Mat>?

--Nick
_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users