Overview
theora_image_transport is a plugin package for image_transport. It enables any node using image_transport classes to publish and subscribe to image topics compressed over the wire using the Theora video codec.
theora_image_transport only works with 8-bit color or grayscale images.
Before reading this page, make sure you understand the image_transport package
Tutorials
See image_transport/Tutorials for general instruction on using image_transport.
ROS API
Publisher plugin
Published Topics
<base topic>/theora (theora_image_transport/Packet)- Theora transport subtopic
Subscriber plugin
Subscribed Topics
<base topic>/theora (theora_image_transport/Packet)- Theora transport subtopic
Nodes
ogg_saver
ogg_saver listens to the Theora transport packets associated with an image topic and saves them out to a .ogv file for later playback with tools like VLC or mplayer. Since Theora does not currently support variable frame rate videos the saved file will have a speed of one frame per second.Subscribed Topics
stream (theora_image_transport/Packet)- The topic containing the Theora packet stream.
Usage
$ rosrun theora_image_transport ogg_saver stream:=<base_topic>/theora [output_file.ogv]