Todo List

Member compressed_image_transport::CompressedPublisher::publish (const sensor_msgs::Image &message, const PublishFn &publish_fn) const

This probably misses some cases

What about bayer??

Try to avoid deprecated fromImage

Use cv::imencode, can write directly to compressed.data

Member compressed_image_transport::CompressedSubscriber::internalCallback (const sensor_msgs::CompressedImageConstPtr &message, const Callback &user_cb)

Use cv::Mat, cv::imdecode

Don't assume 8-bit channels