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<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.5. ROS2 TF工具的使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#tf">4.5.1. 查看TF树结构</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html#id1">4.6. 相机TF计算和发布机制</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.6.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id2">4.6.2. 四元数初始化与坐标系变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id3">4.6.3. 获取设备信息与基准流</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id4">4.6.4. 遍历所有流并计算相对变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id5">4.6.5. 发布TF变换</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id6">4.6.6. 特殊处理左右红外摄像头</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id7">4.6.7. 发布深度到其他传感器的外参</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#id1">4.4.2. 相机TF计算和发布机制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_systems.html#id2">4.4.2.2. 函数解析</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.7. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.8. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.9. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.10.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.10.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.10.1.2. 在RViz2中可视化深度点云</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.10.2.1. 启用彩色点云的命令</a></li>
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<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. 相机传感器结构</a></li>
<li class="toctree-l2"><a class="reference internal" href="tf_transformations.html">4.6. 从坐标系A到坐标系B的TF变换：</a></li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.7. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.8. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.8.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.8.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.8.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.8.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.8.2.2. 在RViz2中可视化彩色点云</a></li>
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<li class="breadcrumb-item active"><span class="section-number">4.9. </span>压缩图像</li>
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<h1><span class="section-number">4.9. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">4.7. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例：</p>
<p>要访问压缩的彩色图像，可以使用以下命令：</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
@@ -377,15 +374,15 @@
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