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<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.2.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<h1><span class="section-number">4.7. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.5. </span>Compressed Image<a class="headerlink" href="#compressed-image" title="Link to this heading"></a></h1>
<p>You can use <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> to compress the image using <code class="docutils literal notranslate"><span class="pre">jpeg</span></code>. Below is an example of how to use it:</p>
<p>To access the compressed color image, you can use the following command:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
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