qt 接收ros视频信息

qt 接收ros视频信息
https://www.pudn.com/news/62405f31d62d7b119930056c.html

#!/usr/bin/env python3
# coding:utf-8

import cv2
import numpy as np
import rospy
from std_msgs.msg import Header
from sensor_msgs.msg import Image
from cv_bridge import CvBridge , CvBridgeError
import time

if __name__=="__main__":
    import sys 
    print(sys.version) # 查看python版本
    capture = cv2.VideoCapture(0) # 定义摄像头
    rospy.init_node('camera_node', anonymous=True) #定义节点
    image_pub=rospy.Publisher('image_raw', Image, queue_size = 1) #定义话题
    
    header = Header(stamp = rospy.Time.now())
    header.frame_id = "Camera"
    ros_frame = Image()
    ros_frame.header=header
    ros_frame.width = 310
    ros_frame.height = 300
    ros_frame.encoding = "bgr8"
    # ros_frame.step = 1920

    while not rospy.is_shutdown():    # Ctrl C正常退出，如果异常退出会报错device busy！
        start = time.time()
        ret, frame = capture.read()
        if ret: # 如果有画面再执行
            # frame = cv2.flip(frame,0)   #垂直镜像操作
            frame = cv2.flip(frame,1)   #水平镜像操作   
    
            ros_frame.data = np.array(frame).tostring() #图片格式转换
            image_pub.publish(ros_frame) #发布消息
            end = time.time()  
            print("cost time:", end-start ) # 看一下每一帧的执行时间，从而确定合适的rate
            rate = rospy.Rate(25) # 10hz 

    capture.release()
    cv2.destroyAllWindows() 
    print("quit successfully!")