[實例]ROS使用OpenCV讀取圖像並發布圖像消息在rviz中顯示
阿新 • • 發佈:2017-11-10
top 選項 == works rate pic echo 內容 color
target_link_libraries(rosopencv ${catkin_LIBRARIES})
add_dependencies(rosopencv robot_vision_generate_messages_cpp)
思路:
(1)使用opencv讀取本地圖像
(2)調用cv_bridge::CvImage().toImageMsg()將本地圖像發送給rviz顯示
一、使用opencv讀取本地圖像並發布圖像消息
(1)利用catkin新建一個工程叫rosopencv,並進行初始化
mkdir -p rosopencv/src
cd rosopencv/src
catkin_create_pkg rosopencv sensor_msgs cv_bridge roscpp std_msgs image_transport
cd ..
catkin_make
source ./devel/setup.bash
(2)編輯主函數代碼
主函數rosopencv.cpp內容如下
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>
#include <stdio.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "image_publisher" );
ros::NodeHandle nh;
image_transport::ImageTransport it(nh);
image_transport::Publisher pub = it.advertise("camera/image", 1);
cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);
if(image.empty()){
printf("open error\n");
}
sensor_msgs::ImagePtr msg = cv_bridge: :CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
ros::Rate loop_rate(5);
while (nh.ok()) {
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
}
註意:cv::Mat image = cv::imread("/home/topeet/test.jpg", CV_LOAD_IMAGE_COLOR);
這句中的"/home/topeet/test.jpg"
需要改成自己圖片的路徑.
(3)編輯CmakeLists.txt
在工程目錄下的/src/rosopencv/src/CmakeLists.txt中加入如下內容
add_executable(rosopencv src/rosopencv.cpp)target_link_libraries(rosopencv ${catkin_LIBRARIES})
add_dependencies(rosopencv robot_vision_generate_messages_cpp)
二、編譯和運行
編譯
cd ~/dev/workspace/rosopencv
catkin_make
運行
rosrun rosopencv rosopencv
輸入
rostopic echo /camera/image
全是數字。
三、在rviz 中顯示
運行rviz
rosrun rviz rviz
左邊點擊add
選中image
在image的topic選項中選
/camera/image
轉載自:http://blog.csdn.net/ktigerhero3/article/details/70157582
[實例]ROS使用OpenCV讀取圖像並發布圖像消息在rviz中顯示