Use point cloud transport to allow compressed point clouds - #3424
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kbrameld wants to merge 1 commit into
Open
Use point cloud transport to allow compressed point clouds #3424kbrameld wants to merge 1 commit into
kbrameld wants to merge 1 commit into
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Can one of the admins verify this patch? |
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Hi, thanks for the PR. Does it relates to image_transport package? Will it be triggered to work if the package is installed and if not will work as the normal topic? like in image_transfer? We need to be back compatable or to add this as an extra feature the user can turn on |
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Replaces the publisher in
pointcloud_filter.cppwith a point_cloud_transport publisher. point_cloud_transport is similar to image_transport, and makes topics available for each installed point_cloud_transport plugin.RViz uses point_cloud_transport too and with these changes, it is possible to compress / decompress point clouds efficiently without the need for separate compression / decompression nodes. In RViz, you need to manually enter the "/zstd" topic suffix (if using zstd plugin), as the compressed transports don't show up in the drop down automatically.