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<title>4.7. Compressed Image &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>4.9. Compressed Image &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_systems.html">4.4. ROS2 Robot vs Camera Optical Coordination Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#core-function-obcameranode-calcandpublishstatictransform">4.6.1. Core Function: <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#quaternion-initialization-and-coordinate-system-transformation">4.6.2. Quaternion Initialization and Coordinate System Transformation</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#iterating-through-all-streams-and-calculating-relative-transformations">4.6.4. Iterating Through All Streams and Calculating Relative Transformations</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-tf-transformations">4.6.5. Publishing TF Transformations</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#special-handling-for-left-and-right-ir-cameras">4.6.6. Special Handling for Left and Right IR Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_systems.html#publishing-extrinsics-from-depth-to-other-sensors">4.6.7. Publishing Extrinsics from Depth to Other Sensors</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.10. 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">4.10.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.10.1.1. Command to Enable Depth Point Cloud</a></li>
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@@ -337,7 +352,7 @@
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="compressed-image">
<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">4.9. </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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