ROS2-JPEG-Image-Decoder

ROS2-JPEG-Image-Decoder: A reliable compressed image conversion solution for FAST-LIVO2 ROS2

Specialized JPEG image decoder package for the optimized FAST-LIVO2-ROS2-MID360-Fisheye system, provides a modular alternative to the built-in LIVMapper::jpeg_callback method for enhanced compressed image processing.

🚀 Key Features

• Replacement for void LIVMapper::jpeg_callback(const sensor_msgs::msg::CompressedImage::SharedPtr msg)
• Real-time JPEG-to-RAW image conversion
• Optimized for MID360 fisheye camera streams
• Complete ROS 2 node lifecycle management
• Low-latency OpenCV-based decoding

⚙️ Installation & Configuration

1. Install Dependencies

sudo apt install ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-cv-bridge

2. Clone & Build

cd ~/fast_ws/src
git clone https://github.com/Rhymer-Lcy/ROS2-JPEG-Image-Decoder.git
cd ..
colcon build --symlink-install --packages-select image_decoder
source install/setup.bash

3. Activate in FAST-LIVO2

Edit mapping_aviz_metacamedu.launch.py and uncomment the decoder node section:

Node(
    package="image_decoder",
    executable="jpeg_decoder_node",
    name="jpeg_decoder",
    output="screen",
    respawn=use_respawn,
    ),