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
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