We are trying to subscribe to the compressed camera image topic, but were unable to do so.
We are using ORB-SLAM2 and have to modify the topic to capture the footage from the drone, however we couldn't figure out how to receive the compressed image because it defaults to RAW image.
The corresponding code that needs to be modified to allow compressed image:
// Create SLAM system. It initializes all system threads and gets ready to process frames.
ros::Subscriber sub = nodeHandler.subscribe("/camera/image", 1, &ImageGrabber::GrabImage,&igb);