Fix raw_mjpeg passthrough for compressed image publishing #378
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Change pixel format check from 'mjpeg' to 'raw_mjpeg' to enable direct MJPEG passthrough to compressed topic without decode/re-encode. This allows the driver to publish raw MJPEG data directly on the /image_raw/compressed topic, avoiding unnecessary CPU usage from decoding to YUV and re-encoding to JPEG. Fixes: ros-drivers#346
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To be honest here I just read the issue thread and tried the suggested replacement from @wendwosenbb. I'm not sure what it does or breaks. It's similar to the now closed #336 but doing only three replacements fixed the compressed image feed for me. |
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Change pixel format check from 'mjpeg' to 'raw_mjpeg' to enable direct MJPEG passthrough to compressed topic without decode/re-encode.
This allows the driver to publish raw MJPEG data directly on the /image_raw/compressed topic, avoiding unnecessary CPU usage from decoding to YUV and re-encoding to JPEG.
Fixes: #346