sensor_msgs/CompressedImage消息类型转换成sensor_msgs/Image消息类型
Python实现的代码
可以将sensor_msgs/CompressedImage消息类型转换成sensor_msgs/Image消息类型:
import rospy
from sensor_msgs.msg import CompressedImage, Image
from cv_bridge import CvBridge, CvBridgeError
bridge = CvBridge()
def compressed_image_callback(msg):
try:
cv_image = bridge.compressed_imgmsg_to_cv2(msg)
except CvBridgeError as e:
rospy.logerr("CvBridgeError: %s", e)
return
try:
image_msg = bridge.cv2_to_imgmsg(cv_image, encoding="bgr8")
except CvBridgeError as e:
rospy.logerr("CvBridgeError: %s", e)
return
image_msg.header = msg.header
pub.publish(image_msg)
if __name__ == '__main__':
rospy.init_node("compressed_to_image")
sub = rospy.Subscriber("compressed_image", CompressedImage, compressed_image_callback, queue_size=1)
pub = rospy.Publisher("image", Image, queue_size=1)
rospy.spin()
在这个代码中,我们首先导入了必要的ROS消息类型和cv_bridge库。然后,我们定义了一个名为“bridge”的CvBridge实例,它允许我们将ROS消息转换为OpenCV图像。接下来,我们定义了一个名为“compressed_image_callback”的回调函数,它将接收到的压缩图像消息转换为OpenCV图像,并使用cv_bridge将其转换为sensor_msgs/Image消息类型。最后,我们发布转换后的图像消息。在main()函数中,我们创建了一个名为“compressed_to_image”的ROS节点,并订阅名为“compressed_image”的压缩图像消息。我们还创建了一个名为“image”的发布者,用于发布转换后的图像消息。最后,我们通过调用rospy.spin()来使节点保持活动状态。
C++实现的代码
可以将sensor_msgs/CompressedImage消息类型转换成sensor_msgs/Image消息类型:
#include <ros/ros.h>
#include <sensor_msgs/CompressedImage.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
void compressedImageCallback(const sensor_msgs::CompressedImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}
sensor_msgs::ImagePtr image_msg = cv_ptr->toImageMsg();
image_msg->header = msg->header;
pub.publish(image_msg);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "compressed_to_image");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe("compressed_image", 1, compressedImageCallback);
pub = nh.advertise<sensor_msgs::Image>("image", 1);
ros::spin();
return 0;
}
在这个代码中,我们首先包含必要的ROS消息类型和cv_bridge库。然后,我们定义了一个名为“compressedImageCallback”的回调函数,它将接收到的压缩图像消息转换为OpenCV图像,并使用cv_bridge将其转换为sensor_msgs/Image消息类型。最后,我们发布转换后的图像消息。在main()函数中,我们创建了一个名为“compressed_to_image”的ROS节点,并订阅名为“compressed_image”的压缩图像消息。我们还创建了一个名为“image”的发布者,用于发布转换后的图像消息。最后,我们通过调用ros::spin()来使节点保持活动状态。